Product transportation method, device and system

Abstract

The invention provides a product transportation method, which comprises the following steps of: judging whether products exist in product positions in a material receiving table or not, and if the products do not exist in the product positions, controlling a material taking arm to fully fill the clamped products in the product positions in a unit area; and then the products are placed in the product positions in the non-unit area in the sequence that the products are fully placed in the product positions, and then the mechanical arm is controlled to grab the products in the product positions in any unit area in the material receiving table. Thus, the material taking arm puts products into the material receiving table to fill the unit area preferentially, the number and distribution of the products in the unit area are consistent with the number and distribution of the material grabbing clamping jaws in the mechanical arm, the mechanical arm can rapidly grab the products with the same number as the material grabbing clamping jaws for detection, the material grabbing efficiency of the mechanical arm is greatly improved, and the production efficiency of the mechanical arm is improved. And the working efficiency of the whole detection process can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of screen detection, and in particular to a product transportation method, device and system. Background Art

[0002] With the development of science and technology, people's lives are increasingly inseparable from display screens, and the quality and performance requirements of display screens are getting higher and higher. In order to ensure product quality, screen testing equipment is generally used to detect various defects of display screens before leaving the factory.

[0003] Screen inspection equipment is mainly used to inspect the relevant process performance of the display screen before shipment. The inspection process of screen inspection equipment generally includes the following process: take out the products required by the inspection equipment from the upstream mechanism through mechanisms such as robotic arms and manipulators, place them on the corresponding receiving table, and then use mechanisms such as robotic arms to grab the products from the receiving table for corresponding process performance inspection. In this process, the number of products that can be grabbed by the robotic arm or manipulator is limited, usually only one or two products can be grabbed, which easily leads to low efficiency of the entire inspection process and cannot meet the needs of mass production. Summary of the invention

[0004] The purpose of the present invention is to provide a product transportation method to solve the technical problem that the inspection process in the prior art has low working efficiency and cannot meet the needs of mass production.

[0005] In a first aspect, an embodiment of the present application provides a method for transporting a product, the method being applied to a detection device, the detection device comprising at least one material picking arm, at least one material receiving platform and at least one manipulator; the material picking arm comprising a plurality of material picking claws, the material picking claws being used to pick up products transported by an upstream mechanism; the material receiving platform comprising M×N product positions, M being the number of rows of the product positions, and M being an even number greater than 1, and N being the number of columns of the product positions, and N being an integer greater than 2; the manipulator comprising a plurality of material grabbing claws, the plurality of material grabbing claws being arranged in a preset shape, the material grabbing claws being used to grab products located on the material receiving platform; the method comprising:

[0006] Controlling the receiving platform to move to a first target position; the first target position is a position close to the picking arm;

[0007] Determine whether there is a product in the product position, and if there is no product in the product position, control the picking arm to place the picked product into the product position according to a first preset order;

[0008] In response to a movement request, the receiving platform is controlled to move from a first target position to a second target position; the movement request is sent when the manipulator is in an idle state, or when the receiving platform is in a full state; the second target position is a position close to the manipulator;

[0009] Control the robot to grab the product located in any unit area of ​​the receiving table;

[0010] Controlling the receiving platform to return to the first target position;

[0011] Among them, the first preset order refers to first filling the product positions in the unit area with products, and then filling the product positions in the non-unit area with products; the unit area refers to the area corresponding to the product positions distributed in the preset shape, and the non-unit area refers to the area in the product positions except the unit area.

[0012] Optionally, the method further comprises:

[0013] If the product exists in the product position, determining the target product position where the product is located;

[0014] Determine whether the target area corresponding to the target product position can cover at least one of the unit areas, and if the target area cannot cover at least one of the unit areas, control the picking arm to place the gripped products into the product position according to a second preset order;

[0015] Among them, the second preset order means first filling the product positions in the first target unit area corresponding to the target area with products, then filling the product positions in the first remaining unit area with products, and finally filling the product positions in the non-unit area with products; the first remaining unit area refers to the unit area in the product position except the first target unit area.

[0016] Optionally, the method further comprises:

[0017] If the target area can cover at least one of the unit areas, controlling the picking arm to place the picked-up products into the product positions according to a third preset order;

[0018] Among them, the third preset order means first filling the product positions in the second target unit area corresponding to the scattered areas with products, then filling the product positions in the second remaining unit area with products, and finally filling the product positions in the non-unit area with products; the scattered areas refer to the areas in the target area except the covered unit areas, and the second remaining unit areas refer to the unit areas in the product positions except the covered unit areas in the target area and the second target unit areas.

[0019] Optionally, controlling the manipulator to grab a product located in a product position in any unit area of ​​the receiving station comprises:

[0020] Determine whether the edge unit area in the receiving station is full of materials, and if the edge unit area is full of materials, control the manipulator to grab the products in the product position in the edge unit area;

[0021] If the edge unit area is not full, control the manipulator to grab the product in the product position in the non-edge unit area;

[0022] Among them, the edge unit area refers to a unit area including product positions located in the 1st row, or a unit area including product positions located in the Mth row; the non-edge unit area refers to a unit area including product positions located in any row from the 2nd row to the M-1th row, and does not include product positions located in the 1st row or the Mth row.

[0023] Optionally, the plurality of material grabbing claws are arranged in an A×B matrix, and the material grabbing claws are used to grab the product located on the material receiving table, A is the number of rows of the material grabbing claws, B is the number of columns of the material grabbing claws, and A and B are both integers greater than or equal to 1;

[0024] The unit area refers to the area corresponding to the product positions distributed in an A×B matrix shape.

[0025] Optionally, the manipulator comprises four material grabbing claws, and the four material grabbing claws are arranged in a 2×2 matrix;

[0026] The unit area refers to the area corresponding to the product positions distributed in a 2×2 matrix.

[0027] Optionally, before controlling the receiving platform to move to the first target position, the method further includes:

[0028] Determining that the manipulator is in a busy state;

[0029] or,

[0030] It is determined that the detection device is in an initial operation state.

[0031] Optionally, the movement request is sent when the robot is in an idle state and there is at least one unit area full of materials in the receiving table.

[0032] In a second aspect, an embodiment of the present application provides a product transportation device, which is applied to a detection device, wherein the detection device includes at least one material picking arm, at least one material receiving platform and at least one manipulator; the material picking arm includes a plurality of material picking claws, and the material picking claws are used to pick up products transported by an upstream mechanism; the material receiving platform includes M×N product positions, where M is the number of rows of the product positions, and M is an even number greater than 1, and N is the number of columns of the product positions, and N is an integer greater than 2; the manipulator includes a plurality of material grabbing claws, and the plurality of material grabbing claws are arranged in a preset shape, and the material grabbing claws are used to grab products located on the material receiving platform; the device includes:

[0033] A control module, used for controlling the material receiving platform to move to a first target position; the first target position is a position close to the material taking arm;

[0034] A judging module, used for judging whether there is a product in the product position, and if there is no product in the product position, controlling the picking arm to place the picked product in the product position according to a first preset order;

[0035] The control module is further used to control the receiving platform to move from a first target position to a second target position in response to a movement request; the movement request is sent when the manipulator is in an idle state, or when the receiving platform is in a full state; and control the manipulator to grab a product in a product position in any unit area of ​​the receiving platform; and control the receiving platform to return to the first target position; the second target position is a position close to the manipulator;

[0036] Among them, the first preset order refers to first filling the product positions in the unit area with products, and then filling the product positions in the non-unit area with products; the unit area refers to the area corresponding to the product positions distributed in the preset shape, and the non-unit area refers to the area in the product positions other than the unit area.

[0037] Optionally, the control module is further configured to determine a target product position where the product is located if there is a product in the product position;

[0038] The judging module is further used to judge whether the target area corresponding to the target product position can cover at least one of the unit areas;

[0039] The control module is further configured to control the picking arm to place the picked-up products into the product positions according to a second preset order if the target area cannot cover at least one of the unit areas;

[0040] Among them, the second preset order means first filling the product positions in the first target unit area corresponding to the target area with products, then filling the product positions in the first remaining unit area with products, and finally filling the product positions in the non-unit area with products; the first remaining unit area refers to the unit area in the product position except the first target unit area.

[0041] Optionally, the control module is further configured to control the picking arm to place the picked-up products into the product positions according to a third preset order if the target area can cover at least one of the unit areas;

[0042] Among them, the third preset order means first filling the product positions in the second target unit area corresponding to the scattered areas with products, then filling the product positions in the second remaining unit area with products, and finally filling the product positions in the non-unit area with products; the scattered areas refer to the areas in the target area except the covered unit areas, and the second remaining unit areas refer to the unit areas in the product positions except the covered unit areas in the target area and the second target unit areas.

[0043] Optionally, the judgment module is specifically used to judge whether the edge unit area in the material receiving station is full of materials, and if the edge unit area is full of materials, control the manipulator to grab the product in the product position in the edge unit area;

[0044] The control module is specifically used to control the manipulator to grab the product in the product position in the non-edge unit area if the edge unit area is not full of materials;

[0045] Among them, the edge unit area refers to a unit area including product positions located in the 1st row, or a unit area including product positions located in the Mth row; the non-edge unit area refers to a unit area including product positions located in any row from the 2nd row to the M-1th row, and does not include product positions located in the 1st row or the Mth row.

[0046] Optionally, the plurality of material grabbing claws are arranged in an A×B matrix, and the material grabbing claws are used to grab the product located on the material receiving table, A is the number of rows of the material grabbing claws, B is the number of columns of the material grabbing claws, and A and B are both integers greater than or equal to 1;

[0047] The unit area refers to the area corresponding to the product positions distributed in an A×B matrix shape.

[0048] Optionally, the manipulator comprises four material grabbing claws, and the four material grabbing claws are arranged in a 2×2 matrix;

[0049] The unit area refers to the area corresponding to the product positions distributed in a 2×2 matrix.

[0050] Optionally, before controlling the receiving platform to move to the first target position, the control module is further used to:

[0051] Determining that the manipulator is in a busy state;

[0052] or,

[0053] It is determined that the detection device is in an initial operation state.

[0054] Optionally, the movement request is sent when the robot is in an idle state and there is at least one unit area full of materials in the receiving table.

[0055] In a third aspect, an embodiment of the present application provides a product transportation system, the system comprising a controller and a detection device; the detection device comprising at least one material picking arm, at least one material receiving platform and at least one manipulator; the material picking arm comprising a plurality of material picking claws, the material picking claws being used to pick up products transported by an upstream mechanism; the material receiving platform comprising M×N product positions, M being the number of rows of the product positions, and M being an even number greater than 1, and N being the number of columns of the product positions, and N being an integer greater than 2; the manipulator comprising a plurality of material grabbing claws, the plurality of material grabbing claws being arranged in a preset shape, the material grabbing claws being used to grab products located on the material receiving platform;

[0056] The controller is configured to send a first instruction to a target receiving station, wherein the first instruction is used to instruct the target receiving station to move to a first target position; the target receiving station is any one of the at least one receiving station; and the first target position is a position close to the material picking arm;

[0057] The target receiving station is configured to move to the first target position in response to the first instruction;

[0058] The controller is further configured to determine whether there is a product in the product position in the target receiving station, and if there is no product in the product position, send a second instruction to the target picking arm, the target picking arm is a picking arm corresponding to the target receiving station, and the second instruction is used to instruct the target picking arm to place the clamped product into the product position according to a first preset order;

[0059] The target picking arm is configured to, in response to the second instruction, pick up products from the upstream mechanism and place the picked up products into the product positions according to a first preset sequence; the first preset sequence means that the product positions in the unit area are first filled with products, and then the product positions in the non-unit area are filled with products; the unit area refers to the area corresponding to the product positions distributed in the preset shape, and the non-unit area refers to the area of ​​the product position other than the unit area;

[0060] The controller is further configured to send a third instruction to the target receiving platform when the target manipulator is in an idle state or the target receiving platform is in a full state, the target manipulator is a material picking arm corresponding to the target receiving platform, and the third instruction is used to instruct the target receiving platform to move from the first target position to a second target position; the second target position is a position close to the manipulator;

[0061] The target receiving station is further configured to move to the second target position in response to the third instruction;

[0062] The controller is further configured to send a fourth instruction to the target manipulator, wherein the fourth instruction is used to instruct the manipulator to grab a product located in a product position in any unit area of ​​the target receiving station;

[0063] The target manipulator is configured to grasp a product in a product position in any unit area of ​​the target receiving station in response to the fourth instruction;

[0064] The controller is further configured to send a fifth instruction to the target receiving station, wherein the fifth instruction is used to instruct the receiving station to return to the first target position;

[0065] The target receiving station is further configured to return to the first target position in response to the fifth instruction.

[0066] Optionally, the controller is further configured to determine the target product position where the product is located if there is a product in the product position; and determine whether the target area corresponding to the target product position can cover at least one of the unit areas; and if the target area cannot cover at least one of the unit areas, control the target picking arm to place the gripped product into the product position according to a second preset order;

[0067] Among them, the second preset order means first filling the product positions in the first target unit area corresponding to the target area with products, then filling the product positions in the first remaining unit area with products, and finally filling the product positions in the non-unit area with products; the first remaining unit area refers to the unit area in the product position except the first target unit area.

[0068] Optionally, the controller is further configured to control the target picking arm to place the gripped products into the product positions according to a third preset order if the target area can cover at least one of the unit areas;

[0069] Among them, the third preset order means first filling the product positions in the second target unit area corresponding to the scattered areas with products, then filling the product positions in the second remaining unit area with products, and finally filling the product positions in the non-unit area with products; the scattered areas refer to the areas in the target area except the covered unit areas, and the second remaining unit areas refer to the unit areas in the product positions except the covered unit areas in the target area and the second target unit areas.

[0070] Optionally, the controller is specifically configured to determine whether the edge unit area in the target receiving station is full of materials, and if the edge unit area is full of materials, control the target manipulator to grab the products in the product position in the edge unit area; and if the edge unit area is not full of materials, control the target manipulator to grab the products in the product position in the non-edge unit area;

[0071] Among them, the edge unit area refers to a unit area including product positions located in the 1st row, or a unit area including product positions located in the Mth row; the non-edge unit area refers to a unit area including product positions located in any row from the 2nd row to the M-1th row, and does not include product positions located in the 1st row or the Mth row.

[0072] Optionally, the plurality of material grabbing claws are arranged in an A×B matrix, and the material grabbing claws are used to grab the product located on the material receiving table, A is the number of rows of the material grabbing claws, B is the number of columns of the material grabbing claws, and A and B are both integers greater than or equal to 1;

[0073] The unit area refers to the area corresponding to the product positions distributed in an A×B matrix shape.

[0074] Optionally, the manipulator comprises four material grabbing claws, and the four material grabbing claws are arranged in a 2×2 matrix;

[0075] The unit area refers to the area corresponding to the product positions distributed in a 2×2 matrix.

[0076] Optionally, before controlling the receiving platform to move to the first target position, the controller is further configured to:

[0077] Determining that the target manipulator is in a busy state;

[0078] or,

[0079] It is determined that the detection device is in an initial operation state.

[0080] Optionally, the movement request is sent when the target robot is in an idle state and there is at least one unit area full of materials in the material receiving table.

[0081] Compared with the prior art, the present application provides a method for transporting products, which determines whether there are products in the product positions in the receiving platform. If there are no products in the product positions, the material picking arm is controlled to put the products picked up in the product positions in the order of first filling the product positions in the unit area with products, and then filling the product positions in the non-unit area with products, and then the manipulator is controlled to grab the products in the product positions in any unit area in the receiving platform. In this way, the material picking arm puts products into the receiving platform to fill the unit area first, and the number and distribution of products in the unit area are consistent with the number and distribution of material grabbing claws in the manipulator, so that the manipulator can quickly grab products with the same number of material grabbing claws for inspection, which greatly improves the material grabbing efficiency of the manipulator, and thus can improve the work efficiency of the entire inspection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] Figure 1 A schematic diagram of a detection device provided in an embodiment of the present application;

[0083] Figure 2 A schematic diagram of a product position in a receiving station provided in an embodiment of the present application;

[0084] Figure 3 A schematic diagram of a process flow corresponding to a method for transporting a product provided in an embodiment of the present application;

[0085] Figure 4a A schematic diagram of a unit area provided in an embodiment of the present application;

[0086] Figure 4b A schematic diagram of another unit area provided in an embodiment of the present application;

[0087] Figure 5a A schematic diagram of the division of product positions provided in an embodiment of the present application;

[0088] Figure 5b A schematic diagram of another product location division provided in an embodiment of the present application;

[0089] Figure 6 Schematic diagrams of several situations of target product positions provided in the embodiments of the present application;

[0090] Figure 7a A schematic diagram of a first target unit area provided in an embodiment of the present application;

[0091] Figure 7b A schematic diagram of a first remaining unit area provided in an embodiment of the present application;

[0092] Figure 8 A schematic diagram of a process flow corresponding to a manipulator material grabbing method provided in an embodiment of the present application;

[0093] Figure 9a One of the schematic diagrams of the edge unit area provided in the embodiment of the present application;

[0094] Figure 9b One of the schematic diagrams of the non-edge unit area provided in the embodiment of the present application;

[0095] Fig.9c A second schematic diagram of an edge unit area provided in an embodiment of the present application;

[0096] Figure 9d A second schematic diagram of a non-edge unit area provided in an embodiment of the present application;

[0097] Fig.10 A schematic diagram of the structure corresponding to a transportation device of a product provided in an embodiment of the present application;

[0098] Fig.11 A structural schematic diagram corresponding to a transportation system of a product is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0099] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0100] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application 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 interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0101] In this application, the term "and / or" is only a description of the association relationship of associated objects, indicating that there can be three kinds of relationships. For example, X and / or Y can mean: X exists alone, X and Y exist at the same time, and Y exists alone. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0102] This application provides a method for transporting a product, which can be applied to Figure 1 In the detection equipment shown. Figure 1 , which is a schematic diagram of a detection device provided in an embodiment of the present application, the detection device 10 includes at least one material picking arm 11, at least one material receiving platform 12 and at least one manipulator 13. The material picking arm 11 and the material receiving platform 12 can be arranged correspondingly, and one material picking arm 11 can correspond to at least one material receiving platform 12, for example Figure 1 The figure shows a situation where one material picking arm 11 corresponds to one material receiving platform 12. The manipulator 13 and the material receiving platform 12 can also be arranged correspondingly, and one manipulator 13 can correspond to at least one material receiving platform 12, for example Figure 1 The figure shows a situation where one manipulator 13 corresponds to one receiving platform 12. That is to say, one material taking arm 11, at least one receiving platform 12 and one manipulator 13 can form a transport route.

[0103] Considering that the product at the exit of the previous production line may be glass-side up or chip-side up, in order to ensure that the product taken out by the material taking arm 11 is chip-side up, when the product at the exit of the previous production line is glass-side up, a flip arm 14 may be provided in the detection device 10. The flip arm 14 is used to take the product from the exit of the previous production line and flip it 180° so that the chip side of the product faces up.

[0104] There are many ways for the flip arm 14 to obtain the product. In addition to the conventional clamping method, the product can also be obtained by vacuum adsorption. Specifically, the flip arm 14 can use vacuum adsorption to suck the glass surface of the product, and then flip it 180°, waiting for the material picking arm 11 to come over and clamp the product.

[0105] Furthermore, the flip arm 14 may include a plurality of suction cups, through which the product may be sucked at one time or in multiple times.

[0106] The picking arm 11 may include a plurality of picking claws, which may be used to pick up products transported by an upstream mechanism.

[0107] It should be noted that the upstream organization can be Figure 1 The flip arm 14 shown in the figure means that the flip arm 14 obtains the product from the outlet end of the previous production line, and the material picking arm 11 clamps the product from the flip arm 14; or, if the flip arm 14 is not set, the material picking arm 11 can also directly clamp the product from the outlet end of the previous production line.

[0108] Furthermore, the number of the picking claws in the picking arm 11 can be consistent with the number of the suction cups in the flip arm 14, so that the products can be moved out from the exit end of the previous production line more efficiently.

[0109] In the embodiment of the present application, there is no limitation on the number of material picking jaws in the material picking arm 11 and the number of suction cups in the flip arm 14. For example, the number of material picking jaws and the number of suction cups can both be five, or can also be other numerical numbers. Technical personnel in this field can adjust the number of material picking jaws and the number of suction cups based on experience and actual needs.

[0110] The receiving station 12 may include M×N product positions 121, where M is the number of rows of the product positions 121, N is the number of columns of the product positions 121, and M is an even number greater than 1, and N is an integer greater than 2. Figure 2 Shown is a schematic diagram of a product position in a material receiving station provided in an embodiment of the present application.

[0111] The manipulator 13 may include a plurality of material grabbing claws arranged in a preset shape, and the material grabbing claws may be used to grab the product located on the receiving table.

[0112] Furthermore, the preset shape is determined by technicians in this field based on experience and actual conditions, for example, it can be determined based on the detection requirements of upstream and downstream mechanisms, and is not specifically limited. In one example, multiple gripping claws can be arranged in an AB matrix, where A is the number of rows of the gripping claws, B is the number of columns of the gripping claws, and A and B are both integers greater than or equal to 1. For example, considering the detection needs of the downstream mechanism, the manipulator can include four gripping claws, and the four gripping claws can be arranged in a 2×2 matrix.

[0113] In other examples, the plurality of clamps may be arranged in other shapes, such as a polygonal shape, which will not be listed in detail.

[0114] based on Figure 1 A schematic diagram of the detection equipment is shown. Figure 3 The following is a flow chart showing a method for transporting a product according to an embodiment of the present application, which specifically includes the following steps:

[0115] Step S201, controlling the material receiving table to move to a first target position.

[0116] Step S202, determine whether there is a product in the product position, if there is no product in the product position, execute step S203; otherwise, execute step S204.

[0117] Step S203, controlling the picking arm to place the picked-up products into the product positions according to a first preset sequence.

[0118] Step S204, determining the target product location of the product.

[0119] Step S205, determining whether the target area corresponding to the target product position can cover at least one unit area. If the target area cannot cover at least one unit area, executing step S206; otherwise, executing step S207.

[0120] Step S206, controlling the picking arm to place the picked-up products into the product positions according to a second preset sequence.

[0121] Step S207, controlling the picking arm to place the picked-up products into the product positions according to a third preset sequence.

[0122] Step S208, in response to the movement request, controlling the receiving table to move from the first target position to the second target position.

[0123] Step S209, controlling the robot arm to grab the product in the product position in any unit area of ​​the receiving table.

[0124] Step 210, controlling the material receiving table to return to the first target position.

[0125] The embodiment of the present application determines whether there are products in the product position in the receiving station. If there are no products in the product position, the material picking arm is controlled to put the clamped products into the product position according to the first preset order; if there are products in the product position, after determining the target product position where the product is located, if the target area corresponding to the target product position can cover at least one unit area, the material picking arm is controlled to put the clamped products into the product position according to the third preset order; if it cannot cover at least one unit area, the material picking arm is controlled to put the clamped products into the product position according to the second preset order; and then the manipulator is controlled to grab the products in the product position in any unit area in the receiving station. In this way, the material picking arm puts products into the receiving station to fill up the unit area first, and the number and distribution of products in the unit area are consistent with the number and distribution of the material grabbing claws in the manipulator, so that the manipulator can quickly grab products with the same number of material grabbing claws for detection, which greatly improves the material grabbing efficiency of the manipulator, and thus can improve the work efficiency of the entire detection process.

[0126] Specifically, before executing step S201, two judgment conditions can be used to control the receiving platform to move to the first target position. The first judgment condition is to determine whether the manipulator is in a busy state. If the manipulator is in a busy state, the receiving platform is controlled to move to the first target position. The manipulator being in a busy state means that there is a product in the material gripping claw of the manipulator, and the product is being tested or waiting for testing.

[0127] The second judgment condition is to judge whether the detection device is in the initial operation state. When the detection device is in the initial operation state, the material receiving table can be controlled to move to the first target position.

[0128] Furthermore, considering that when the detection device is in the initial operation state, the mechanical claw will not clamp any product, that is, the mechanical claw is in an idle state at this time. In other words, the above two judgment conditions conflict. When the above two judgment conditions conflict, the second judgment condition is satisfied first.

[0129] In step S201, the first target position may be a position close to the material taking arm. Figure 1 Taking the detection device shown in as an example, Figure 1 Position 1 and position 3 shown in can be regarded as the first target position.

[0130] In step S202, there are multiple ways to determine whether there are products in the product position. In one example, a sensor can be installed in the product position to determine whether there are products in the product position through the sensing function of the sensor. The sensor can be a gravity sensor to determine whether there are products in the product position through gravity sensing, or the sensor can be a light sensor to determine whether there are products in the product position through light sensing, or the sensor can be other types of sensors, which are not specifically limited.

[0131] In other examples, it is also possible to determine whether there are products in the product position through an image acquisition device, such as using an image acquisition device to capture an image of the docking station, and then using image analysis software to analyze the captured image, so as to determine whether there are products in the product position.

[0132] In step S203, if there is no product in the product position, the picking arm is controlled to place the picked product into the product position according to a first preset sequence, wherein the first preset sequence means that the product position in the unit area is filled with products first, and then the product position in the non-unit area is filled with products.

[0133] In the embodiment of the present application, MN product positions can be divided into unit areas and non-unit areas, wherein the unit area refers to the area corresponding to the product positions distributed in a preset shape. In other words, the distribution shape of the product positions in the unit area is consistent with the distribution shape of each gripping claw in the mechanical claw. If the gripping claws are arranged in an AB matrix, then the unit area refers to the area corresponding to the product positions distributed in an A×B matrix, just like Figure 4a A schematic diagram of a unit area is shown. Figure 4a The area framed by the dotted line can be regarded as a unit area; if the gripper is arranged in a polygonal shape, then the unit area refers to the area corresponding to the product position distributed in the polygon, just like Figure 4b A schematic diagram of another unit area is shown. Figure 4b The area framed by the dotted line can be regarded as a unit area.

[0134] Furthermore, considering the downstream detection needs, the mechanical grippers can be distributed in a 2×2 matrix, so the unit area refers to the area corresponding to the product positions distributed in the 2×2 matrix.

[0135] The non-unit area refers to an area in a product location other than the unit area.

[0136] Take the 5×2 matrix distribution of product positions as an example. Figure 5a The following is a schematic diagram showing the division of a product position provided in an embodiment of the present application. Figure 5b Another schematic diagram of dividing product positions provided in an embodiment of the present application is exemplarily shown.

[0137] Figure 5a Region A and Region B are unit areas, and Region C is a non-unit area, wherein Region A includes the areas where product positions 1, 2, 6, and 7 are located; Region B includes the areas where product positions 3, 4, 8, and 9 are located; and Region C includes the areas where product positions 5 and 10 are located. Figure 5b Area A and Area B are unit areas, and Area C is a non-unit area, wherein Area A includes the areas where product positions 4, 5, 9, and 10 are located; Area B includes the areas where product positions 2, 3, 7, and 8 are located; Area C includes the areas where product positions 1 and 6 are located.

[0138] from Figure 5a and Figure 5b It can be seen from the figure that the area corresponding to the matrix size of 2×2 product positions is taken as a unit area, and the 5×2 product positions can be divided into 2 unit areas (i.e. Figure 5a or Figure 5b Region A and Region B shown in FIG) and 1 non-unit region (i.e. Figure 5a or Figure 5b Area C) shown in FIG.

[0139] It should be noted that: (1) Figure 5a and Figure 5b These are two examples of dividing 5×2 product positions. The two division methods are different in that the specific position of each unit area in the entire product position is different. When implementing, the method can be selected based on the experience or actual needs of technicians in the field. This application does not make any specific restrictions. (2) For other numbers of product positions, such as product positions distributed in a 5×4 matrix or a 7×2 matrix, technicians in the field can refer to Figure 5a and Figure 5b The division method is expanded and will not be described in detail in this application.

[0140] Furthermore, considering that the spacing between the material picking claws in the material picking arm is inconsistent with the spacing between the product positions in the material receiving table, when the material picking claws in the material picking arm put products into the product positions, each material picking claw needs to put the clamped products into the corresponding product positions in turn.

[0141] Specifically, after determining the target unit area where the product is to be placed, it is also possible to determine the vacant product positions where each picking gripper plans to place the product based on the position information of each picking gripper that clamps the product in the picking arm and the position information of each vacant product position in the target unit area, and then control each picking gripper in turn to place the product into the corresponding vacant product position.

[0142] In the process of sequentially controlling each picking jaw to place products into the corresponding vacant product positions, the target distance that the target picking jaw needs to move can be determined based on the position information of the target picking jaw that performs the material placement operation this time and the position information of the vacant product position corresponding to the target picking jaw, and then the target picking jaw can be controlled to place products into the corresponding vacant product position according to the target distance.

[0143] In order to reduce the amount of calculation and improve the efficiency of the picking jaws in placing products into the product positions, the target distance that the picking jaws need to move can be quickly determined by setting a reference position. Specifically, at least one reference position needs to be determined in advance in the product position, and the position information of each picking jaw relative to the reference position is calculated. Then, the target distance that the target picking jaws need to move can be quickly determined based on the position information of other product positions relative to the reference position and the predetermined spacing between each product position.

[0144] For example, Figure 5a Taking the 5×2 product positions shown in as an example, assuming that product position No. 1 is set as the reference position for all product positions in the first row, and product position No. 6 is set as the reference position for all product positions in the second row, then the distances of other product positions relative to these two reference positions can be determined based on the spacing between the product positions, that is, the distance of product position No. 2 relative to the reference position (i.e. product position No. 1) is one spacing, the distance of product position No. 3 relative to the reference position (i.e. product position No. 1) is two spacings, the distance of product position No. 4 relative to the reference position (i.e. product position No. 1) is three spacings, and the distance of product position No. 5 relative to the reference position (i.e. product position No. 1) is four spacings. Similarly, the distance of product position No. 7 relative to the reference position (i.e. product position No. 6) is one spacing, the distance of product position No. 8 relative to the reference position (i.e. product position No. 6) is two spacings, the distance of product position No. 9 relative to the reference position (i.e. product position No. 6) is three spacings, and the distance of product position No. 10 relative to the reference position (i.e. product position No. 6) is four spacings. Furthermore, for the target material picking clamp, the target distance that the target material picking clamp needs to move can be determined based on the position information of the target material picking clamp relative to the reference position and the position information of the vacant product position corresponding to the target material picking clamp. For example, if the vacant product position corresponding to the target material picking clamp is product position No. 2, then the target distance that the target material picking clamp needs to move can be quickly determined based on the position information of the target material picking clamp relative to the reference position and the distance between the reference position (i.e., product position No. 1) and product position No. 2.

[0145] In step S204, the method for determining the target product position where the product is located can refer to the method for judging whether there is a product in the product position in the above step S202, that is, the target product position can be determined by the sensing function of the sensor or by taking an image of the docking station by an image acquisition device.

[0146] In step S205, there are multiple specific ways to determine whether the target area corresponding to the target product position can cover at least one unit area. One possible implementation method is to determine whether the target area can cover at least one unit area by judging whether the coverage range of the target area is greater than or equal to the unit area. Figure 6 Schematic diagram showing several situations of target product positions, from Figure 6 It can be seen that the three situations shown in situations (a), (b) and (c) belong to the situations where the target area cannot cover at least one unit area, and the three situations shown in situations (d), (e) and (f) belong to the situations where the target area can cover at least one unit area.

[0147] It should be noted that Figure 6 The six situations shown are only exemplary and do not mean that there are only these six situations in the actual implementation process.

[0148] Another more convenient implementation method is to determine whether the target area can cover at least one unit area by judging whether the number of target product positions is greater than or equal to the number of product positions in the unit area. That is, if the number of target product positions is greater than or equal to the number of product positions in the unit area, it is considered that the target area can cover at least one unit area; if the number of target product positions is less than the number of product positions in the unit area, it is considered that the target area cannot cover at least one unit area.

[0149] A person skilled in the art may also use other methods to determine whether the target area covers at least one unit area, and this application does not make any specific limitation.

[0150] In step S206, in the case where the target area corresponding to the target product position cannot cover at least one unit area, the material picking arm can be controlled to place the clamped products into the product position according to the second preset order. The second preset order means that the product positions in the first target unit area corresponding to the target area are first filled with products, then the product positions in the first remaining unit area are filled with products, and finally the product positions in the non-unit area are filled with products. The first remaining unit area refers to the unit area in the product position other than the first target unit area.

[0151] In an embodiment of the present application, there may be multiple first target unit areas. In the case where there are multiple first target unit areas, the picking arm can be controlled to place the gripped product into an empty product position in any first target unit area; or the first target unit area closest to the target picking gripper can be calculated, and then the target picking gripper can be controlled to place the gripped product into an empty product position in the first remaining unit area closest to the distance.

[0152] by Figure 6 Taking the case (a) shown in as an example, Figure 7a A schematic diagram showing a first target unit area is shown as an example. The first target unit area may be Figure 7a The area A shown in FIG. 1 may also be Figure 7a If the area A' is shown in FIG. 1 , the picking arm can be controlled to place the picked-up product into an empty product position in area A or area A'.

[0153] In an embodiment of the present application, there may be multiple first remaining unit areas. In the case where there are multiple first remaining unit areas, the picking arm can be controlled to place the gripped product into an empty product position in any first remaining unit area; or the first remaining unit area closest to the target picking gripper can be calculated, and then the target picking gripper can be controlled to place the gripped product into an empty product position in the first remaining unit area closest to the distance.

[0154] Still Figure 6 Taking the case (a) shown in as an example, Figure 7b A schematic diagram showing a first remaining unit area is shown as an example. The first remaining unit area may be Figure 7b The area B shown in FIG. 1 may also be Figure 7b If it is area B' shown in the figure, the picking arm can be controlled to place the picked-up product into an empty product position in area B or area B'.

[0155] In step S207, in the case where the target area corresponding to the target product position can cover at least one unit area, the picking arm can be controlled to place the gripped products into the product position according to the third preset order.

[0156] The third preset order means that the product positions in the second target unit area corresponding to the scattered area are first filled with products, then the product positions in the second remaining unit area are filled with products, and finally the product positions in the non-unit area are filled with products. The scattered area refers to the area in the target area except the covered unit area, and the second remaining unit area refers to the unit area in the product position except the covered unit area in the target area and the second target unit area.

[0157] Furthermore, considering the possibility that the target area completely covers at least one unit area, that is, there are no scattered areas, after determining that the target area can cover at least one unit area, it is possible to further determine whether the target area can completely cover at least one unit area.

[0158] If the target area cannot completely cover at least one unit area, that is, there are scattered areas, the picking arm can be controlled to place the gripped products into the product positions according to the third preset order.

[0159] If the target area can completely cover at least one unit area, that is, there are no scattered areas, the material picking arm can be controlled to place the clamped products into the product positions according to the fourth preset order. The fourth preset order means that the product positions in the third remaining unit area are filled with products first, and then the product positions in the non-unit area are filled with products. The third remaining unit area refers to the unit area in the product position other than the unit area covered by the target area.

[0160] Furthermore, taking into account the possibility of multiple third remaining unit areas, in order to facilitate the subsequent material picking operation of the robot, the product positions in the third remaining unit area closest to the target area can be filled with products first, and then the product positions in the third remaining unit area second closest to the target area can be filled with products, and so on, until the product positions in all third remaining unit areas are filled with products, and then the product positions in non-unit areas can be filled with products.

[0161] In step S208, the movement request is sent when the robot is in an idle state, or when the receiving table is in a full state.

[0162] When the robot is performing some operations, such as film tearing, the robot is in a busy state, and the robot will not send a move request at this time. When the robot is in a busy state, the receiving table is not full of materials, waiting for the material picking arm to place the product, and sends a move request when it is full of materials. The receiving table can be controlled to move from the first target position to the second target position. The second target position can be a position close to the robot. Figure 1 Taking the detection device shown in as an example, Figure 1 Position 2 and position 4 shown in can be regarded as the second target position.

[0163] When the manipulator has no material, that is, is in an idle state, a movement request is sent to control the receiving platform to move from the first target position to the second target position. At this time, regardless of whether the material picking arm has clamped a product, the receiving platform can be controlled to move from the first target position to the second target position.

[0164] Furthermore, when a movement request sent by the robot is received, the receiving table can be directly controlled to move from the first target position to the second target position regardless of whether the receiving table is in a full state.

[0165] Furthermore, in order to avoid the situation where the robot is in an idle state and there is not at least one unit area full of materials in the receiving table, resulting in the inability of all the grabbing claws in the robot to grasp the products, resulting in the grabbing claws being idle and affecting the detection efficiency, the movement request can be limited to being sent when the robot is in an idle state and there is at least one unit area full of materials in the receiving table.

[0166] In step S209, the robot grasps the product according to certain rules. One possible implementation is as follows: Figure 8 As shown, it is a schematic diagram of the process flow corresponding to a manipulator grasping material method provided in an embodiment of the present application, which specifically includes the following steps:

[0167] Step S2091, determine whether the edge unit area in the material receiving table is full of materials. If the edge unit area is full of materials, execute step S2092; otherwise, execute step S2093.

[0168] In the embodiments of the present application, the edge unit area refers to a unit area including product positions located in the 1st row, or a unit area including product positions located in the Mth row; the concept opposite to the edge unit area is the non-edge unit area, and the non-edge unit area refers to a unit area including product positions located in any row from the 2nd row to the M-1th row, and does not include product positions located in the 1st row or the Mth row.

[0169] The division of edge unit area and non-edge unit area is explained below with reference to the accompanying drawings. Figures 9a to 9d The schematic diagram of the edge unit area or non-edge unit area provided by the embodiment of the present application is exemplarily shown. Figure 9a and Figure 9b All of them are based on the example of a receiving table including 5×2 product positions. Figure 9a It can be seen from the figure that the two unit areas containing the first row of product positions or the fifth row of product positions belong to the edge unit areas; Figure 9b It can be seen that the two unit areas that include any row from the 2nd row to the 4th row of product positions and do not include the 1st row of product positions and the 5th row of product positions belong to non-edge unit areas.

[0170] Fig.9c and Figure 9d All of them are based on the example of a receiving table including 5×4 product positions. Fig.9c It can be seen from the figure that the four unit areas containing the first row of product positions or the fifth row of product positions belong to the edge unit areas; Figure 9dIt can be seen that the four unit areas that include any row from the 2nd to the 4th product position and do not include the 1st and 5th product positions belong to non-edge unit areas.

[0171] It should be noted that Figures 9a to 9d The edge unit area or non-edge unit area shown is only for illustrative purposes, and other division forms may exist in actual implementation.

[0172] Step S2092, controlling the robot arm to grab the product in the product position within the edge unit area.

[0173] Step S2093, controlling the robot arm to grab the product in the product position in the non-edge unit area.

[0174] In other possible implementations, the robot can also grab products according to other rules. For example, the robot can grab products from the unit area in sequence from one end of the receiving table to the other end. Technical personnel in this field can set the rules for the robot to grab products based on experience and actual conditions, and this application will not describe them in detail with examples.

[0175] In an embodiment of the present application, if the edge unit area in the material receiving table is full of material, the robot can grab the product from the full edge unit area; when there are multiple full edge unit areas, the robot can grab the product from any full edge unit area.

[0176] If the edge unit area in the receiving table is not full of material, the robot can grab the product from the full non-edge unit area. If there are multiple full non-edge unit areas, the robot can grab the product from any full non-edge unit area.

[0177] Based on the same inventive concept, the present application also provides a product transportation device, specifically, Fig.10 As shown, it is a structural schematic diagram corresponding to a product transportation device provided in an embodiment of the present application, the device is applied to a detection device, the detection device includes at least one material picking arm, at least one material receiving platform and a manipulator; the material picking arm includes a plurality of material picking claws, and the material picking claws are used to grab products transported by an upstream mechanism; the material receiving platform includes M×N product positions, M is the number of rows of the product positions, and M is an even number greater than 1, N is the number of columns of the product positions, and N is an integer greater than 2; the manipulator includes a plurality of material grabbing claws, the plurality of material grabbing claws are arranged in a preset shape, and the material grabbing claws are used to grab products located on the material receiving platform; the device includes:

[0178] The control module 31 is used to control the receiving platform to move to a first target position; the first target position is a position close to the material taking arm;

[0179] A judging module 32 is used to judge whether there is a product in the product position, and if there is no product in the product position, control the picking arm to put the picked product into the product position according to a first preset order;

[0180] The control module 31 is also used to control the receiving platform to move from the first target position to the second target position in response to a movement request; the movement request is sent when the manipulator is in an idle state, or when the receiving platform is in a full state; and control the manipulator to grab the product in the product position in any unit area of ​​the receiving platform; and control the receiving platform to return to the first target position; the second target position is a position close to the manipulator;

[0181] Among them, the first preset order refers to first filling the product positions in the unit area with products, and then filling the product positions in the non-unit area with products; the unit area refers to the area corresponding to the product positions distributed in the preset shape, and the non-unit area refers to the area in the product positions other than the unit area.

[0182] Optionally, the control module 31 is further configured to determine a target product position where the product is located if there is a product in the product position;

[0183] The judging module 32 is further used to judge whether the target area corresponding to the target product position can cover at least one of the unit areas;

[0184] The control module 31 is further configured to control the picking arm to place the picked-up products into the product positions according to a second preset order if the target area cannot cover at least one of the unit areas;

[0185] Among them, the second preset order means first filling the product positions in the first target unit area corresponding to the target area with products, then filling the product positions in the first remaining unit area with products, and finally filling the product positions in the non-unit area with products; the first remaining unit area refers to the unit area in the product position except the first target unit area.

[0186] Optionally, the control module 31 is further configured to control the picking arm to place the picked-up products into the product positions according to a third preset order if the target area can cover at least one of the unit areas;

[0187] Among them, the third preset order means first filling the product positions in the second target unit area corresponding to the scattered areas with products, then filling the product positions in the second remaining unit area with products, and finally filling the product positions in the non-unit area with products; the scattered areas refer to the areas in the target area except the covered unit areas, and the second remaining unit areas refer to the unit areas in the product positions except the covered unit areas in the target area and the second target unit areas.

[0188] Optionally, the judging module 32 is specifically used to judge whether the edge unit area in the receiving station is full of materials, and if the edge unit area is full of materials, control the manipulator to grab the product in the product position in the edge unit area;

[0189] The control module 31 is specifically used to control the manipulator to grab the product in the product position in the non-edge unit area if the edge unit area is not full of materials;

[0190] Among them, the edge unit area refers to a unit area including product positions located in the 1st row, or a unit area including product positions located in the Mth row; the non-edge unit area refers to a unit area including product positions located in any row from the 2nd row to the M-1th row, and does not include product positions located in the 1st row or the Mth row.

[0191] Optionally, the plurality of material grabbing claws are arranged in an A×B matrix, and the material grabbing claws are used to grab the product located on the material receiving table, A is the number of rows of the material grabbing claws, B is the number of columns of the material grabbing claws, and A and B are both integers greater than or equal to 1;

[0192] The unit area refers to the area corresponding to the product positions distributed in an A×B matrix shape.

[0193] Optionally, the manipulator comprises four material grabbing claws, and the four material grabbing claws are arranged in a 2×2 matrix;

[0194] The unit area refers to the area corresponding to the product positions distributed in a 2×2 matrix.

[0195] Optionally, before controlling the receiving platform to move to the first target position, the control module 31 is further used to:

[0196] Determining that the manipulator is in a busy state;

[0197] or,

[0198] It is determined that the detection device is in an initial operation state.

[0199] Optionally, the movement request is sent when the robot is in an idle state and there is at least one unit area full of materials in the receiving table.

[0200] Based on the same inventive concept, the present application also provides a product transportation system, such as Fig.11 As shown, it is a structural schematic diagram corresponding to a product transportation system provided in an embodiment of the present application, wherein the system includes a controller 20 and a detection device 10; the detection device includes at least one material picking arm, at least one material receiving platform and at least one manipulator; the material picking arm includes a plurality of material picking claws, and the material picking claws are used to pick up products transported by an upstream mechanism; the material receiving platform includes M×N product positions, where M is the number of rows of the product positions, and M is an even number greater than 1, and N is the number of columns of the product positions, and N is an integer greater than 2; the manipulator includes a plurality of material grabbing claws, and the plurality of material grabbing claws are arranged in a preset shape, and the material grabbing claws are used to grab products located on the material receiving platform;

[0201] The controller 20 is configured to send a first instruction to a target receiving station, wherein the first instruction is used to instruct the target receiving station to move to a first target position; the target receiving station is any one of the at least one receiving station; and the first target position is a position close to the material picking arm;

[0202] The target receiving station is configured to move to the first target position in response to the first instruction;

[0203] The controller 20 is further configured to determine whether there is a product in the product position in the target receiving station, and if there is no product in the product position, send a second instruction to the target picking arm, the target picking arm is a picking arm corresponding to the target receiving station, and the second instruction is used to instruct the target picking arm to place the clamped product into the product position according to a first preset order;

[0204] The target picking arm is configured to, in response to the second instruction, pick up products from the upstream mechanism and place the picked up products into the product positions according to a first preset sequence; the first preset sequence means that the product positions in the unit area are first filled with products, and then the product positions in the non-unit area are filled with products; the unit area refers to the area corresponding to the product positions distributed in the preset shape, and the non-unit area refers to the area of ​​the product position other than the unit area;

[0205] The controller 20 is further configured to send a third instruction to the target receiving platform when the target manipulator is in an idle state or the target receiving platform is in a full state, the target manipulator is a material picking arm corresponding to the target receiving platform, and the third instruction is used to instruct the target receiving platform to move from the first target position to a second target position; the second target position is a position close to the manipulator;

[0206] The target receiving station is further configured to move to the second target position in response to the third instruction;

[0207] The controller 20 is further configured to send a fourth instruction to the target manipulator, wherein the fourth instruction is used to instruct the manipulator to grab a product located in a product position in any unit area of ​​the target receiving station;

[0208] The target manipulator is configured to grasp a product in a product position in any unit area of ​​the target receiving station in response to the fourth instruction;

[0209] The controller 20 is further configured to send a fifth instruction to the target receiving station, wherein the fifth instruction is used to instruct the receiving station to return to the first target position;

[0210] The target receiving station is further configured to return to the first target position in response to the fifth instruction.

[0211] Optionally, the controller 20 is further configured to determine the target product position where the product is located if there is a product in the product position; and determine whether the target area corresponding to the target product position can cover at least one of the unit areas; and if the target area cannot cover at least one of the unit areas, control the target picking arm to place the gripped product into the product position according to a second preset order;

[0212] Among them, the second preset order means first filling the product positions in the first target unit area corresponding to the target area with products, then filling the product positions in the first remaining unit area with products, and finally filling the product positions in the non-unit area with products; the first remaining unit area refers to the unit area in the product position except the first target unit area.

[0213] Optionally, the controller 20 is further configured to control the target picking arm to place the gripped products into the product positions according to a third preset order if the target area can cover at least one of the unit areas;

[0214] Among them, the third preset order means first filling the product positions in the second target unit area corresponding to the scattered areas with products, then filling the product positions in the second remaining unit area with products, and finally filling the product positions in the non-unit area with products; the scattered areas refer to the areas in the target area except the covered unit areas, and the second remaining unit areas refer to the unit areas in the product positions except the covered unit areas in the target area and the second target unit areas.

[0215] Optionally, the controller 20 is specifically configured to determine whether the edge unit area in the target receiving station is full of materials, and if the edge unit area is full of materials, control the target manipulator to grab the products in the product position in the edge unit area; and if the edge unit area is not full of materials, control the target manipulator to grab the products in the product position in the non-edge unit area;

[0216] Among them, the edge unit area refers to a unit area including product positions located in the 1st row, or a unit area including product positions located in the Mth row; the non-edge unit area refers to a unit area including product positions located in any row from the 2nd row to the M-1th row, and does not include product positions located in the 1st row or the Mth row.

[0217] Optionally, the plurality of material grabbing claws are arranged in an A×B matrix, and the material grabbing claws are used to grab the product located on the material receiving table, A is the number of rows of the material grabbing claws, B is the number of columns of the material grabbing claws, and A and B are both integers greater than or equal to 1;

[0218] The unit area refers to the area corresponding to the product positions distributed in an A×B matrix shape.

[0219] Optionally, the manipulator comprises four material grabbing claws, and the four material grabbing claws are arranged in a 2×2 matrix;

[0220] The unit area refers to the area corresponding to the product positions distributed in a 2×2 matrix.

[0221] Optionally, before controlling the receiving platform to move to the first target position, the controller 20 is further configured to:

[0222] Determining that the target manipulator is in a busy state;

[0223] or,

[0224] It is determined that the detection device is in an initial operation state.

[0225] Optionally, the movement request is sent when the target robot is in an idle state and there is at least one unit area full of materials in the material receiving table.

[0226] The above description is only a description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any changes or modifications made by a person skilled in the art in the field of the present invention based on the above disclosure shall fall within the scope of protection of the claims.

Claims

1. A method for transporting a product, characterized in that: The method is applied to a detection device, which includes at least one material picking arm, at least one material receiving platform and at least one manipulator; the material picking arm includes a plurality of material picking claws, which are used to pick up products transported by an upstream mechanism; the material receiving platform includes M×N product positions, where M is the number of rows of the product positions, and M is an even number greater than 1, and N is the number of columns of the product positions, and N is an integer greater than 2; the manipulator includes a plurality of material grabbing claws, which are arranged in a preset shape, and are used to grab products located on the material receiving platform; the method includes: Controlling the receiving platform to move to a first target position; the first target position is a position close to the picking arm; Determine whether there is a product in the product position, and if there is no product in the product position, control the picking arm to place the picked product into the product position according to a first preset order; In response to a movement request, the receiving platform is controlled to move from a first target position to a second target position; the movement request is sent when the manipulator is in an idle state, or when the receiving platform is in a full state; the second target position is a position close to the manipulator; Control the robot to grab the product located in any unit area of ​​the receiving table; Controlling the receiving platform to return to the first target position; Among them, the first preset order refers to first filling the product positions in the unit area with products, and then filling the product positions in the non-unit area with products; the unit area refers to the area corresponding to the product positions distributed in the preset shape, and the non-unit area refers to the area in the product positions except the unit area.

2. The method according to claim 1, characterized in that The method further comprises: If the product exists in the product position, determining the target product position where the product is located; Determine whether the target area corresponding to the target product position can cover at least one of the unit areas, and if the target area cannot cover at least one of the unit areas, control the picking arm to place the gripped products into the product position according to a second preset order; Among them, the second preset order means first filling the product positions in the first target unit area corresponding to the target area with products, then filling the product positions in the first remaining unit area with products, and finally filling the product positions in the non-unit area with products; the first remaining unit area refers to the unit area in the product position except the first target unit area.

3. The method according to claim 2, characterized in that The method further comprises: If the target area can cover at least one of the unit areas, controlling the picking arm to place the picked-up products into the product positions according to a third preset order; Among them, the third preset order means first filling the product positions in the second target unit area corresponding to the scattered areas with products, then filling the product positions in the second remaining unit area with products, and finally filling the product positions in the non-unit area with products; the scattered areas refer to the areas in the target area except the covered unit areas, and the second remaining unit areas refer to the unit areas in the product positions except the covered unit areas in the target area and the second target unit areas.

4. The method according to claim 1, characterized in that: Controlling the manipulator to grab the product located in a product position in any unit area of ​​the receiving station includes: Determine whether the edge unit area in the receiving station is full of materials, and if the edge unit area is full of materials, control the manipulator to grab the products in the product position in the edge unit area; If the edge unit area is not full, control the manipulator to grab the product in the product position in the non-edge unit area; Among them, the edge unit area refers to a unit area including product positions located in the 1st row, or a unit area including product positions located in the Mth row; the non-edge unit area refers to a unit area including product positions located in any row from the 2nd row to the M-1th row, and does not include product positions located in the 1st row or the Mth row.

5. The method according to claim 1, characterized in that The plurality of material grabbing claws are arranged in an A×B matrix shape, and the material grabbing claws are used to grab the products located on the material receiving table, A is the number of rows of the material grabbing claws, and B is the number of columns of the material grabbing claws, and both A and B are integers greater than or equal to 1; The unit area refers to the area corresponding to the product positions distributed in an A×B matrix shape.

6. The method according to claim 5, characterized in that The manipulator comprises four material grabbing claws, and the four material grabbing claws are arranged in a 2×2 matrix; The unit area refers to the area corresponding to the product positions distributed in a 2×2 matrix.

7. The method according to claim 1, characterized in that Before controlling the receiving platform to move to the first target position, the method further includes: Determining that the manipulator is in a busy state; or, It is determined that the detection device is in an initial operation state.

8. The method according to claim 1, characterized in that The movement request is sent when the robot is in an idle state and there is at least one unit area full of materials in the receiving table.

9. A product transportation device, characterized in that: The device is applied to a detection device, which includes at least one material picking arm, at least one material receiving platform and at least one manipulator; the material picking arm includes a plurality of material picking claws, which are used to pick up products transported by an upstream mechanism; the material receiving platform includes M×N product positions, where M is the number of rows of the product positions, and M is an even number greater than 1, and N is the number of columns of the product positions, and N is an integer greater than 2; the manipulator includes a plurality of material grabbing claws, which are arranged in a preset shape, and are used to grab products located on the material receiving platform; the device includes: A control module, used for controlling the material receiving platform to move to a first target position; the first target position is a position close to the material taking arm; A judging module, used for judging whether there is a product in the product position, and if there is no product in the product position, controlling the picking arm to place the picked product in the product position according to a first preset order; The control module is further used to control the receiving platform to move from a first target position to a second target position in response to a movement request; the movement request is sent when the manipulator is in an idle state, or when the receiving platform is in a full state; and control the manipulator to grab a product in a product position in any unit area of ​​the receiving platform; and control the receiving platform to return to the first target position; the second target position is a position close to the manipulator; Among them, the first preset order refers to first filling the product positions in the unit area with products, and then filling the product positions in the non-unit area with products; the unit area refers to the area corresponding to the product positions distributed in the preset shape, and the non-unit area refers to the area in the product positions except the unit area.

10. A product transportation system, characterized in that: The system includes a controller and a detection device; the detection device includes at least one material picking arm, at least one material receiving platform and at least one manipulator; the material picking arm includes a plurality of material picking claws, and the material picking claws are used to pick up products transported by an upstream mechanism; the material receiving platform includes M×N product positions, M is the number of rows of the product positions, and M is an even number greater than 1, and N is the number of columns of the product positions, and N is an integer greater than 2; the manipulator includes a plurality of material grabbing claws, and the plurality of material grabbing claws are arranged in a preset shape, and the material grabbing claws are used to grab products located on the material receiving platform; The controller is configured to send a first instruction to a target receiving station, wherein the first instruction is used to instruct the target receiving station to move to a first target position; the target receiving station is any one of the at least one receiving station; and the first target position is a position close to the material picking arm; The target receiving station is configured to move to the first target position in response to the first instruction; The controller is further configured to determine whether there is a product in the product position in the target receiving station, and if there is no product in the product position, send a second instruction to the target picking arm, the target picking arm is a picking arm corresponding to the target receiving station, and the second instruction is used to instruct the target picking arm to place the clamped product into the product position according to a first preset order; The target picking arm is configured to, in response to the second instruction, pick up products from the upstream mechanism and place the picked up products into the product positions according to a first preset sequence; the first preset sequence means that the product positions in the unit area are first filled with products, and then the product positions in the non-unit area are filled with products; the unit area refers to the area corresponding to the product positions distributed in the preset shape, and the non-unit area refers to the area of ​​the product position other than the unit area; The controller is further configured to send a third instruction to the target receiving platform when the target manipulator is in an idle state or the target receiving platform is in a full state, the target manipulator is a manipulator corresponding to the target receiving platform, and the third instruction is used to instruct the target receiving platform to move from the first target position to a second target position; the second target position is a position close to the target manipulator; The target receiving station is further configured to move to the second target position in response to the third instruction; The controller is further configured to send a fourth instruction to the target manipulator, wherein the fourth instruction is used to instruct the manipulator to grab a product located in a product position in any unit area of ​​the target receiving station; The target manipulator is configured to grasp a product in a product position in any unit area of ​​the target receiving station in response to the fourth instruction; The controller is further configured to send a fifth instruction to the target receiving station, wherein the fifth instruction is used to instruct the receiving station to return to the first target position; The target receiving station is further configured to return to the first target position in response to the fifth instruction.

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