Motion control method and transfer mechanism

Abstract

The invention relates to a motion control method and a transfer mechanism. The method comprises the steps that when the transfer mechanism is located at a target position, a first detection result of a first proximity sensor and a second detection result of a second proximity sensor on the transfer mechanism are obtained; the first proximity sensor is located in a dangerous area of the transfer mechanism in the container obtaining direction, the second proximity sensor is located in a safe area of the transfer mechanism in the container obtaining direction, the dangerous area is close to the edge of the transfer mechanism, the detection range of the first proximity sensor covers the dangerous area, and the safe area is close to the center of the transfer mechanism; the detection range of the second proximity sensor covers the safety area, and the detection ranges of the first proximity sensor and the second proximity sensor do not coincide; the transferring mechanism is used for transporting a container loaded with a target object; based on the first detection result and the second detection result, determining a container grabbing result of the transfer mechanism; and the transferring mechanism is controlled to move according to the container grabbing result. By adopting the method, the safety of motion control can be improved.

Description

Technical Field

[0001] The present application relates to the field of refrigeration technology, and in particular to a motion control method and a transfer mechanism. Background Art

[0002] If blood samples are not tested in time after collection, blood banks, plasma collection stations and other medical institutions need to store blood bags containing blood samples in a cold storage room for refrigeration. The traditional method of refrigerating blood bags is usually to have a robotic arm reach into the shelf, lift up the blood basket containing the blood bag and take it out.

[0003] However, the traditional motion control method for refrigerating blood boxes requires that the blood baskets be lifted up before being taken out, so the storage height of each shelf layer is relatively high, resulting in a relatively small storage capacity and prone to collision damage to equipment and blood bags, resulting in a low safety problem. Summary of the invention

[0004] Based on this, it is necessary to provide a motion control method and transfer mechanism that can improve safety in response to the above technical problems.

[0005] In a first aspect, the present application provides a motion control method, comprising:

[0006] When the transfer mechanism is at the target position, a first detection result of a first proximity sensor and a second detection result of a second proximity sensor on the transfer mechanism are obtained; the first proximity sensor is in a dangerous zone of the transfer mechanism in a container acquisition direction, and the second proximity sensor is in a safe zone of the transfer mechanism in the container acquisition direction, the dangerous zone is close to an edge of the transfer mechanism, and a detection range of the first proximity sensor covers the dangerous zone, the safe zone is close to a center of the transfer mechanism, and a detection range of the second proximity sensor covers the safe zone, and the detection ranges of the first proximity sensor and the second proximity sensor do not overlap; the transfer mechanism is used to transport containers loaded with target objects;

[0007] Determining a container grabbing result of the transfer mechanism based on the first detection result and the second detection result;

[0008] The transfer mechanism is controlled to move according to the container grabbing result.

[0009] Furthermore, determining the container grabbing result of the transfer mechanism based on the first detection result and the second detection result includes:

[0010] If both the first detection result and the second detection result indicate that the container is not detected, determining that the container grabbing result of the transfer mechanism is that the container is not grabbed;

[0011] If the first detection result is that the container is detected, and the second detection result is that the container is detected or not detected, then determining that the container grabbing result of the transfer mechanism is a dangerous container grabbing;

[0012] If the first detection result is that the container is not detected, and the second detection result is that the container is detected, it is determined that the container grabbing result of the transfer mechanism is that the container is successfully grabbed.

[0013] Furthermore, controlling the transfer mechanism to move according to the container grabbing result includes:

[0014] If the container grabbing result is that the container is not grabbed, controlling the transfer mechanism to move in a container grabbing direction or a non-container grabbing direction;

[0015] If the container grabbing result is a dangerous container grabbing, controlling the transfer mechanism to be stationary in a non-container grabbing direction;

[0016] If the container grabbing result is that the container is successfully grabbed, the transfer mechanism is controlled to be stationary or to move in the non-container grabbing direction.

[0017] Furthermore, the transfer mechanism includes two first proximity sensors and two second proximity sensors, the two first proximity sensors are respectively located at different sides of the dangerous area, and the two second proximity sensors are respectively located at different sides of the safe area.

[0018] Further, the distance between the two second proximity sensors in the container acquisition direction is equal to the length of the container in the container acquisition direction.

[0019] In a second aspect, the present application further provides a transfer mechanism, including a first proximity sensor, a second proximity sensor and a control module;

[0020] The first proximity sensor is located in a dangerous area of ​​the transfer mechanism in a container acquisition direction, and the first proximity sensor is used to obtain a first detection result and send the first detection result to the control module;

[0021] The second proximity sensor is located in a safe zone of the transfer mechanism in a container acquisition direction, and the second proximity sensor is used to obtain a second detection result and send the second detection result to the control module; wherein the dangerous zone is close to an edge of the transfer mechanism, and the detection range of the first proximity sensor covers the dangerous zone, the safe zone is close to a center of the transfer mechanism, and the detection range of the second proximity sensor covers the safe zone, and the detection range of the first proximity sensor and the detection range of the second proximity sensor do not overlap;

[0022] The control module is used to determine the container grabbing result of the transfer mechanism based on the first detection result and the second detection result, and control the transfer mechanism to move according to the container grabbing result to transport the container loaded with the target object.

[0023] Furthermore, the control module is also used to determine that the container grasping result of the transfer mechanism is that the container is not grasped if both the first detection result and the second detection result are that the container is not detected; if the first detection result is that the container is detected, and the second detection result is that the container is detected or the container is not detected, then determine that the container grasping result of the transfer mechanism is a dangerous container grasping; if the first detection result is that the container is not detected, and the second detection result is that the container is detected, then determine that the container grasping result of the transfer mechanism is that the container is successfully grasped.

[0024] Furthermore, the control module is also used to control the transfer mechanism to move in the container acquisition direction or the non-container acquisition direction if the container grasping result is that the container is not grasped; if the container grasping result is that the container is dangerously grasped, control the transfer mechanism to be stationary in the non-container acquisition direction; if the container grasping result is that the container is successfully grasped, control the transfer mechanism to be stationary or to move in the non-container acquisition direction.

[0025] Furthermore, the transfer mechanism includes two first proximity sensors and two second proximity sensors, the two first proximity sensors are respectively located at different sides of the dangerous area, and the two second proximity sensors are respectively located at different sides of the safe area.

[0026] Further, the distance between the two second proximity sensors in the container acquisition direction is equal to the length of the container in the container acquisition direction.

[0027] The above-mentioned motion control method and transfer mechanism, when the transfer mechanism is at the target position, obtain the first detection result of the first proximity sensor and the second detection result of the second proximity sensor on the transfer mechanism, the first proximity sensor is in the danger zone of the transfer mechanism in the container acquisition direction, and the second proximity sensor is in the safety zone of the transfer mechanism in the container acquisition direction, the danger zone is close to the edge of the transfer mechanism, and the detection range of the first proximity sensor covers the danger zone, the safety zone is close to the center of the transfer mechanism, and the detection range of the second proximity sensor covers the safety zone, the detection range of the first proximity sensor and the detection range of the second proximity sensor do not overlap, and the transfer mechanism is used to transport containers carrying target objects; then, based on the first detection result and the second detection result, the container grasping result of the transfer mechanism can be accurately determined, and then the transfer mechanism is controlled to move according to the container grasping result, so as to avoid collision and damage to equipment and blood bags caused by the transfer mechanism during movement, thereby improving the safety of motion control. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 is an application environment diagram of a motion control method in an embodiment;

[0030] Figure 2 A schematic diagram of a scene in which a transfer mechanism obtains a container in one embodiment;

[0031] Figure 3 A coordinate diagram of a transfer mechanism and a container in one embodiment;

[0032] Figure 4 A schematic diagram of a transfer mechanism successfully acquiring a container in one embodiment;

[0033] Figure 5 A schematic diagram of an embodiment in which a transfer mechanism fails to obtain a container;

[0034] Figure 6 A schematic diagram of a dangerous grab container of a transfer mechanism in one embodiment;

[0035] Figure 7 A schematic diagram of a dangerous grabbing container of a transfer mechanism in another embodiment;

[0036] Figure 8 A schematic diagram of a dangerous grabbing container of a transfer mechanism in another embodiment;

[0037] Fig. 9 A schematic diagram of a dangerous grabbing container of a transfer mechanism in another embodiment;

[0038] Fig.10 is a structural block diagram of a motion control device in one embodiment;

[0039] Fig.11 FIG. 4 is an internal structure diagram of a transfer mechanism in one embodiment. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present application clearer, 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 intended to limit the present application. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention.

[0041] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0042] In one embodiment, Figure 1 As shown, a motion control method is provided, and this embodiment is illustrated by taking the method applied to a transfer mechanism. It should be noted that, in other embodiments, the motion control method can also be applied to a control system independent of the transfer mechanism.

[0043] In this embodiment, the motion control method includes the following steps S102 to S106:

[0044] Step S102, when the transferring mechanism is at the target position, obtain a first detection result of the first proximity sensor and a second detection result of the second proximity sensor on the transferring mechanism; the first proximity sensor is in a danger zone of the transferring mechanism in the container acquisition direction, and the second proximity sensor is in a safety zone of the transferring mechanism in the container acquisition direction, the danger zone is close to the edge of the transferring mechanism, and the detection range of the first proximity sensor covers the danger zone, the safety zone is close to the center of the transferring mechanism, and the detection range of the second proximity sensor covers the safety zone, and the detection range of the first proximity sensor and the detection range of the second proximity sensor do not overlap; the transferring mechanism is used to transport containers loaded with target objects.

[0045] The transfer mechanism is a device for transporting containers, such as a transport vehicle, a robot transport vehicle, etc. The container is used to load a target object, which may be a blood bag or a blood collection tube, etc., in which a blood sample is stored. For example, the container may be a blood frame for loading a blood bag. The target position is the position where the transfer mechanism is located when acquiring the container. For example, the target position may be an adjacent position of the shelf where the container is located.

[0046] A proximity sensor is an electronic device that can sense the proximity of an object and generate a corresponding output signal. It detects the proximity or presence of an object in a non-contact manner and converts this information into an electrical signal. A first proximity sensor and a second proximity sensor are provided on the surface of the transfer mechanism, and both the first proximity sensor and the second proximity sensor are used to detect containers.

[0047] The transfer mechanism includes at least one first proximity sensor and at least one second proximity sensor. Exemplarily, the transfer mechanism includes a first proximity sensor and a second proximity sensor, the first proximity sensor is located on the container grabbing side of the dangerous area, and the second proximity sensor is located in the center of the safe area. Exemplarily, the transfer mechanism includes two first proximity sensors and one second proximity sensor, the two first proximity sensors are located on different sides of the dangerous area, and the second proximity sensor is located in the center of the safe area.

[0048] Optionally, the transfer mechanism includes two first proximity sensors and two second proximity sensors, the two first proximity sensors are respectively located at different sides of the danger zone, and the two second proximity sensors are respectively located at different sides of the safety zone.

[0049] Optionally, the distance between the two second proximity sensors in the container acquisition direction is equal to the length of the container in the container acquisition direction.

[0050] The container acquisition direction is the direction in which the transfer mechanism acquires the container. For example, when the transfer mechanism is at the target position and the container is placed on the shelves on the left and right sides of the transfer mechanism, the container acquisition direction of the transfer mechanism is horizontally to the left or horizontally to the right, and the container can be acquired from the left shelf or the right shelf.

[0051] Optionally, when the transfer mechanism is at the target position, the container is hooked by the transfer mechanism, and in the process of obtaining the container, detection is performed by the first proximity sensor and the second proximity sensor to obtain a first detection result of the first proximity sensor and a second detection result of the second proximity sensor on the transfer mechanism.

[0052] The transfer mechanism may include a robotic arm, which hooks the container. The robotic arm does not need to be lifted or lowered when obtaining the container, thereby avoiding the height reserved for the robotic arm to be lifted or lowered, reducing the height between shelf layers and increasing the storage capacity.

[0053] like Figure 2As shown, four proximity sensors S1, S2, S3 and S4 are installed on the transfer mechanism, where S1 and S4 are the first proximity sensors, S2 and S3 are the second proximity sensors, S1 and S4 are in the dangerous zone of the transfer mechanism in the container acquisition direction, S2 and S3 are in the safe zone of the transfer mechanism in the acquisition direction, the dangerous zone is close to the edge of the transfer mechanism, and the detection range of the first proximity sensor covers the dangerous zone, the safe zone is close to the center of the transfer mechanism, and the detection range of the second proximity sensor covers the safe zone, and the container acquisition direction is horizontal to the left or horizontal to the right. The transfer mechanism is in the target position, and the container can be hooked from the shelf to place the container on the transfer mechanism.

[0054] like Figure 3 As shown, a plane coordinate system is constructed by a transfer mechanism, and the transfer mechanism obtains a container and places the container in a safe position. The center coordinates of the transfer mechanism are (x5, y3), the center of the container is the same as the center of the transfer mechanism, x1 is the left edge coordinate of the transfer mechanism, x4 is the right edge coordinate of the transfer mechanism, x2 is the left edge coordinate of the container, x3 is the right edge coordinate of the container, y1 is the bottom edge coordinate of the container, and y2 is the top edge coordinate of the container.

[0055] S1 and S4 are the first proximity sensors, S2 and S3 are the second proximity sensors, S1 can be installed at the position (x1, y1~y2) of the transfer mechanism, S2 can be installed at the position (x2, y1~y2) of the transfer mechanism, S3 can be installed at the position (x3, y1~y2) of the transfer mechanism, and S4 can be installed at the position (x4, y1~y2) of the transfer mechanism.

[0056] Step S104: determining the container grabbing result of the transfer mechanism based on the first detection result and the second detection result.

[0057] The container grabbing result is the result of the transfer mechanism acquiring the container, and the container grabbing result may include one of the following: the container is not grabbed, the container is dangerously grabbed, and the container is successfully grabbed.

[0058] Optionally, the transfer mechanism includes a control module, which obtains a first detection result of the first proximity sensor and a second detection result of the second proximity sensor, and determines a container grabbing result of the transfer mechanism based on the first detection result and the second detection result.

[0059] Optionally, the transfer mechanism obtains the first detection result and the second detection result in real time, and determines the container grabbing result of the transfer mechanism based on the first detection result and the second detection result within the same time range. The same time range can be set as needed, such as within the same 10-second range.

[0060] Optionally, based on the first detection result and the second detection result, the container grasping result of the transfer mechanism is determined, including: if the first detection result and the second detection result are both that the container is not detected, then the container grasping result of the transfer mechanism is determined to be that the container is not grasped; if the first detection result is that the container is detected, and the second detection result is that the container is detected or not detected, then the container grasping result of the transfer mechanism is determined to be a dangerous container grasping; if the first detection result is that the container is not detected, and the second detection result is that the container is detected, then the container grasping result of the transfer mechanism is determined to be a successful container grasping.

[0061] Optionally, if both the first detection result and the second detection result are that the container is not detected, indicating that there is no container on the transfer mechanism, then the container grasping result of the transfer mechanism is determined to be that the container is not grasped; if the first detection result is that the container is detected, and the second detection result is that the container is detected or not detected, indicating that the first proximity sensor in the danger zone detects the container, the container may not be completely placed in the transfer mechanism, and may collide with other objects during movement, then the container grasping result of the transfer mechanism is determined to be a dangerous container grasping; if the first detection result is that the container is not detected, and the second detection result is that the container is detected, indicating that the first proximity sensor in the danger zone does not detect the container, while the second proximity sensor in the safe zone detects the container, that is, the container is completely in the transfer mechanism, then the container grasping result of the transfer mechanism is determined to be a successful container grasping, and the container is in a safe state.

[0062] Step S106, controlling the transfer mechanism to move according to the container grabbing result.

[0063] Optionally, the control module generates a motion control instruction according to the container grabbing result, and controls the transfer mechanism to move according to the motion control instruction. The motion control instruction can be a static instruction or a motion instruction, and the motion instruction can also include an instruction to move in a specified direction, but is not limited thereto.

[0064] Optionally, the transfer mechanism is controlled to move according to the container grasping result, including: if the container grasping result is that the container is not grasped, the transfer mechanism is controlled to move in the container acquisition direction or the non-container acquisition direction; if the container grasping result is that the container is dangerously grasped, the transfer mechanism is controlled to be stationary in the non-container acquisition direction; if the container grasping result is that the container is successfully grasped, the transfer mechanism is controlled to be stationary or to move in the non-container acquisition direction.

[0065] The non-container acquisition direction includes at least one of a horizontal non-container acquisition direction and a vertical non-container acquisition direction. The horizontal non-container acquisition direction and the container acquisition direction are on a horizontal plane, and the horizontal non-container acquisition direction and the container acquisition direction are perpendicular to each other, and the vertical non-container acquisition direction and the horizontal plane are perpendicular to each other.

[0066] Taking a three-dimensional coordinate system as an example, the container acquisition direction is the horizontal Y direction, the horizontal non-container acquisition direction is the horizontal X direction, and the vertical non-container acquisition direction is the vertical Z direction.

[0067] Optionally, after the transfer mechanism is stationary, the transfer mechanism may perform an alarm process, wherein the transfer mechanism may alarm through an audible and visual alarm of the equipment, or pop up an alarm prompt bar on the display interface, or notify relevant personnel to handle and troubleshoot the fault, etc., but is not limited thereto.

[0068] like Figure 4 As shown, the container is in the safe zone, that is, the first detection result is that the container is not detected, and the second detection result is that the container is detected, which means that the action of the transfer mechanism to obtain the container has been completed and the container is in a safe position. The container grabbing result of the transfer mechanism is determined to be a successful container grabbing. The transfer mechanism can be controlled to be stationary or move in a non-container acquisition direction, which is the X direction and Z direction in the three-dimensional coordinate system, to ensure that no vehicle collision occurs.

[0069] like Figure 5 As shown, the container is neither in the danger zone nor in the safety zone, that is, the first detection result and the second detection result are both that the container is not detected, which means that there is no container on the transfer mechanism, and the transfer mechanism does not perform the action of acquiring the container, then the container grabbing result of the transfer mechanism is determined to be that the container is not grabbed, and the transfer mechanism can be controlled to move in the container acquisition direction or the non-container acquisition direction, the container acquisition direction is the Y direction, and the non-container acquisition direction is the X direction and the Z direction, to ensure that no vehicle collision occurs.

[0070] Reference Figures 6 to 9 When the first detection result of the first proximity sensor S1 or S4 is that the container is detected, and the second detection result of the second proximity sensor S2 or S3 is that the container is detected or the container is not detected, both represent that the transfer mechanism is executing to obtain the container and the container is in a dangerous position, then the container grabbing result of the transfer mechanism is determined to be a dangerous container grabbing, and the transfer mechanism is controlled to be stationary in the non-container acquisition direction to avoid collision damage to the equipment and blood bags.

[0071] In the above-mentioned motion control method, when the transfer mechanism is at the target position, a first detection result of the first proximity sensor and a second detection result of the second proximity sensor on the transfer mechanism are obtained, the first proximity sensor is in a danger zone of the transfer mechanism in the container acquisition direction, and the second proximity sensor is in a safe zone in the container acquisition direction of the transfer mechanism, the danger zone is close to the edge of the transfer mechanism, and the detection range of the first proximity sensor covers the danger zone, the safe zone is close to the center of the transfer mechanism, and the detection range of the second proximity sensor covers the safe zone, then the container grabbing result of the transfer mechanism can be accurately determined through the first detection result of the first proximity sensor and the second detection result of the second proximity sensor, and then the transfer mechanism is controlled to move according to the container grabbing result, so as to avoid collision and damage to equipment and blood bags caused by the transfer mechanism during movement, and also avoid the possibility of blood frames falling in non-safe positions, thereby improving the safety of motion control.

[0072] Experiments have shown that the above-mentioned motion control method can make the equipment run well and stably during operation and debugging, and successfully prevent the transfer mechanism from colliding and causing damage to the equipment and blood bags. In addition, if the transfer mechanism loses power during operation, when power is restored, the first detection result of the first proximity sensor and the second detection result of the second proximity sensor can be used to accurately determine the container grabbing result of the transfer mechanism, and then the transfer mechanism can be controlled to perform corresponding movements according to the container grabbing result, thereby avoiding collision and damage to the equipment and blood bags when the transfer mechanism resumes power movement.

[0073] In one embodiment, a transfer mechanism is provided, which includes a first proximity sensor, a second proximity sensor and a control module; the first proximity sensor is located in a dangerous zone of the transfer mechanism in a container acquisition direction, and the first proximity sensor is used to obtain a first detection result and send the first detection result to the control module; the second proximity sensor is located in a safe zone of the transfer mechanism in the container acquisition direction, and the second proximity sensor is used to obtain a second detection result and send the second detection result to the control module; wherein the dangerous zone is close to the edge of the transfer mechanism, and the detection range of the first proximity sensor covers the dangerous zone, the safe zone is close to the center of the transfer mechanism, and the detection range of the second proximity sensor covers the safe zone, and the detection range of the first proximity sensor and the detection range of the second proximity sensor do not overlap; the control module is used to determine the container grabbing result of the transfer mechanism based on the first detection result and the second detection result, and control the transfer mechanism to move according to the container grabbing result to transport the container loaded with the target object.

[0074] Optionally, the control module is also used to determine that the container grasping result of the transfer mechanism is that the container is not grasped if both the first detection result and the second detection result are that the container is not detected; if the first detection result is that the container is detected, and the second detection result is that the container is detected or the container is not detected, then the container grasping result of the transfer mechanism is determined to be a dangerous container grasping; if the first detection result is that the container is not detected, and the second detection result is that the container is detected, then the container grasping result of the transfer mechanism is determined to be a successful container grasping.

[0075] Optionally, the control module is also used to control the transfer mechanism to move in the container acquisition direction or the non-container acquisition direction if the container grasping result is that the container is not grasped; if the container grasping result is that the container is dangerously grasped, control the transfer mechanism to be stationary in the non-container acquisition direction; if the container grasping result is that the container is successfully grasped, control the transfer mechanism to be stationary or to move in the non-container acquisition direction.

[0076] Optionally, the transfer mechanism includes two first proximity sensors and two second proximity sensors, the two first proximity sensors are respectively located at different sides of the danger zone, and the two second proximity sensors are respectively located at different sides of the safety zone.

[0077] Optional, such as Figure 3 As shown, the distance between the two second proximity sensors in the container acquisition direction is equal to the length of the container in the container acquisition direction, that is, when the container is in the safety zone, the left and right sides of the container are close to the two second proximity sensors S2 and S3 respectively. Of course, the distance between the two second proximity sensors in the container acquisition direction may also be less than the length of the container in the container acquisition direction, that is, when the container is in the safety zone, the second proximity sensors S2 and S3 are surrounded by the projection range of the container in the vertical direction.

[0078] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0079] Based on the same inventive concept, the embodiment of the present application also provides a motion control device for implementing the motion control method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more motion control device embodiments provided below can refer to the limitations on the motion control method above, and will not be repeated here.

[0080] In an exemplary embodiment, Fig.10 As shown, a motion control device is provided, comprising: a detection result acquisition unit 1002, a container grabbing result determination unit 1004 and a motion unit 1006, wherein:

[0081] The detection result acquisition unit 1002 is used to acquire a first detection result of a first proximity sensor and a second detection result of a second proximity sensor on the transfer mechanism when the transfer mechanism is at a target position; the first proximity sensor is in a dangerous zone of the transfer mechanism in a container acquisition direction, and the second proximity sensor is in a safe zone of the transfer mechanism in the container acquisition direction, the dangerous zone is close to an edge of the transfer mechanism, and a detection range of the first proximity sensor covers the dangerous zone, the safe zone is close to a center of the transfer mechanism, and a detection range of the second proximity sensor covers the safe zone, and the detection ranges of the first proximity sensor and the second proximity sensor do not overlap; the transfer mechanism is used to transport a container loaded with a target object;

[0082] A container grabbing result determining unit 1004, configured to determine a container grabbing result of the transfer mechanism based on the first detection result and the second detection result;

[0083] Optionally, the container grasping result determination unit 1004 is also used to determine that the container grasping result of the transfer mechanism is that the container is not grasped if both the first detection result and the second detection result are that the container is not detected; if the first detection result is that the container is detected, and the second detection result is that the container is detected or the container is not detected, then the container grasping result of the transfer mechanism is determined to be a dangerous container grasping; if the first detection result is that the container is not detected, and the second detection result is that the container is detected, then the container grasping result of the transfer mechanism is determined to be a successful container grasping.

[0084] The motion unit 1006 is used to control the transfer mechanism to move according to the container grabbing result.

[0085] Optionally, the motion unit 1006 is also used to control the transfer mechanism to move in the container acquisition direction or the non-container acquisition direction if the container grasping result is that the container is not grasped; if the container grasping result is that the container is dangerously grasped, then control the transfer mechanism to be stationary in the non-container acquisition direction; if the container grasping result is that the container is successfully grasped, then control the transfer mechanism to be stationary or to move in the non-container acquisition direction.

[0086] The above-mentioned motion control device obtains a first detection result of a first proximity sensor and a second detection result of a second proximity sensor on the transfer mechanism when the transfer mechanism is at a target position, the first proximity sensor is in a danger zone of the transfer mechanism in a container acquisition direction, and the second proximity sensor is in a safety zone of the transfer mechanism in the container acquisition direction, the danger zone is close to an edge of the transfer mechanism, and a detection range of the first proximity sensor covers the danger zone, the safety zone is close to a center of the transfer mechanism, and a detection range of the second proximity sensor covers the safety zone, the detection range of the first proximity sensor and the detection range of the second proximity sensor do not overlap, and the transfer mechanism is used to transport a container carrying a target object; then, based on the first detection result and the second detection result, the container grabbing result of the transfer mechanism can be accurately determined, and then the transfer mechanism can be controlled to move according to the container grabbing result, thereby avoiding collision and damaging of the equipment and blood bags by the transfer mechanism during movement, thereby improving the safety of motion control.

[0087] Each unit in the above motion control device can be implemented in whole or in part by software, hardware or a combination thereof. Each unit can be embedded in or independent of the processor in the transfer mechanism in the form of hardware, or can be stored in the memory in the transfer mechanism in the form of software, so that the processor can call and execute the corresponding operations of each unit.

[0088] In an exemplary embodiment, a transfer mechanism is provided, and its internal structure diagram can be shown as follows: Fig.11As shown. The transfer mechanism includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the transfer mechanism is used to provide computing and control capabilities. The memory of the transfer mechanism includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the transfer mechanism is used to exchange information between the processor and an external device. The communication interface of the transfer mechanism is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a motion control method is implemented. The display unit of the transfer mechanism is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the transfer mechanism can be a touch layer covering the display screen, or a key, trackball or touchpad set on the transfer mechanism shell, or an external keyboard, touchpad or mouse.

[0089] Those skilled in the art will understand that Fig.11 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the transfer mechanism to which the scheme of the present application is applied. The specific transfer mechanism may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0090] In one embodiment, a transfer mechanism is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0091] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0092] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0093] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0094] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0095] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0096] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A motion control method, characterized in that: The method comprises: When the transfer mechanism is at the target position, a first detection result of a first proximity sensor and a second detection result of a second proximity sensor on the transfer mechanism are obtained; the first proximity sensor is in a dangerous zone of the transfer mechanism in a container acquisition direction, and the second proximity sensor is in a safe zone of the transfer mechanism in the container acquisition direction, the dangerous zone is close to an edge of the transfer mechanism, and a detection range of the first proximity sensor covers the dangerous zone, the safe zone is close to a center of the transfer mechanism, and a detection range of the second proximity sensor covers the safe zone, and the detection ranges of the first proximity sensor and the second proximity sensor do not overlap; the transfer mechanism is used to transport containers loaded with target objects; Determining a container grabbing result of the transfer mechanism based on the first detection result and the second detection result; The transfer mechanism is controlled to move according to the container grabbing result.

2. The method according to claim 1, characterized in that The determining the container grabbing result of the transfer mechanism based on the first detection result and the second detection result includes: If both the first detection result and the second detection result indicate that the container is not detected, determining that the container grabbing result of the transfer mechanism is that the container is not grabbed; If the first detection result is that the container is detected, and the second detection result is that the container is detected or not detected, then determining that the container grabbing result of the transfer mechanism is a dangerous container grabbing; If the first detection result is that the container is not detected, and the second detection result is that the container is detected, it is determined that the container grabbing result of the transfer mechanism is that the container is successfully grabbed.

3. The method according to claim 2, characterized in that The step of controlling the transfer mechanism to move according to the container grabbing result includes: If the container grabbing result is that the container is not grabbed, controlling the transfer mechanism to move in a container grabbing direction or a non-container grabbing direction; If the container grabbing result is a dangerous container grabbing, controlling the transfer mechanism to be stationary in a non-container grabbing direction; If the container grabbing result is that the container is successfully grabbed, the transfer mechanism is controlled to be stationary or to move in the non-container grabbing direction.

4. The method according to claim 1, characterized in that: The transfer mechanism includes two first proximity sensors and two second proximity sensors, the two first proximity sensors are respectively located at different sides of the dangerous area, and the two second proximity sensors are respectively located at different sides of the safe area.

5. The method according to claim 4, characterized in that The distance between the two second proximity sensors in the container acquiring direction is equal to the length of the container in the container acquiring direction.

6. A transfer mechanism, characterized in that: The transfer mechanism includes a first proximity sensor, a second proximity sensor and a control module; The first proximity sensor is located in a dangerous area of ​​the transfer mechanism in a container acquisition direction, and the first proximity sensor is used to obtain a first detection result and send the first detection result to the control module; The second proximity sensor is located in a safe zone of the transfer mechanism in a container acquisition direction, and the second proximity sensor is used to obtain a second detection result and send the second detection result to the control module; wherein the dangerous zone is close to an edge of the transfer mechanism, and the detection range of the first proximity sensor covers the dangerous zone, the safe zone is close to a center of the transfer mechanism, and the detection range of the second proximity sensor covers the safe zone, and the detection range of the first proximity sensor and the detection range of the second proximity sensor do not overlap; The control module is used to determine the container grabbing result of the transfer mechanism based on the first detection result and the second detection result, and control the transfer mechanism to move according to the container grabbing result to transport the container loaded with the target object.

7. The transfer mechanism according to claim 6, characterized in that: The control module is also used to determine that the container grasping result of the transfer mechanism is that the container is not grasped if the first detection result and the second detection result are both that the container is not detected; if the first detection result is that the container is detected, and the second detection result is that the container is detected or the container is not detected, then determine that the container grasping result of the transfer mechanism is a dangerous container grasping; if the first detection result is that the container is not detected, and the second detection result is that the container is detected, then determine that the container grasping result of the transfer mechanism is that the container is successfully grasped.

8. The transfer mechanism according to claim 7, characterized in that: The control module is also used to control the transfer mechanism to move in the container acquisition direction or the non-container acquisition direction if the container grasping result is that the container is not grasped; if the container grasping result is that the container is dangerously grasped, control the transfer mechanism to be stationary in the non-container acquisition direction; if the container grasping result is that the container is successfully grasped, control the transfer mechanism to be stationary or to move in the non-container acquisition direction.

9. The transfer mechanism according to claim 6, characterized in that: The transfer mechanism includes two first proximity sensors and two second proximity sensors, the two first proximity sensors are respectively located at different sides of the dangerous area, and the two second proximity sensors are respectively located at different sides of the safe area.

10. The transfer mechanism according to claim 9, characterized in that: The distance between the two second proximity sensors in the container acquiring direction is equal to the length of the container in the container acquiring direction.

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