Robot cargo loading and unloading condition response method

Abstract

A robot cargo loading and unloading condition response method comprises the steps that different cargoes are contained through different standardized containers or storage lattices, so that a robot can automatically recognize cargo types in the loading stage, the cargo types are matched to the longest conveying time T1 of a specific cargo type A pre-stored by a system, then the robot automatically plans a path according to stacked tasks, and the maximum conveying time T1 is matched to the maximum conveying time T1 of the specific cargo type A; the method comprises the following steps: firstly, according to a total shortest path scheme capable of completing all tasks, predicting the predicted arrival time of each cargo according to the scheme, and when the predicted arrival time of a specific cargo type A exceeds the longest conveying time T1 set by a system, according to a short-to-long sequence of paths of the path scheme, determining whether the specific cargo type A is in a short-to-long sequence; and repeating the steps of replacing the path scheme and predicting the predicted delivery time of each cargo until the predicted delivery time of all the specific cargo types A is within the longest delivery time T1 of the specific cargo type A set by the system. And the transportation aging requirement of special goods is met, and the short overall transportation time is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control applications, and in particular to a robot cargo loading and unloading condition response method. Background Art

[0002] In recent years, logistics and warehousing have been moving towards unmanned operations. By using logistics robots to replace workers in carrying large items, the occurrence of personal accidents has been greatly reduced. Moreover, with the gradual increase in the amount of goods, the identification and transportation of goods by humans not only increases the number of identification types, but also increases the amount of goods. In addition, with a small number of personnel, it is very easy to make mistakes under complex operations, which will directly slow down the operation of the entire system. Robots are run through programs, are less prone to errors, and have higher sorting and transportation efficiency.

[0003] In order to improve the efficiency of cargo transportation and ensure the delivery time, it is necessary to calculate multiple transportation routes through permutations and combinations according to the distance of the destination of different goods, and select the route with the shortest time. However, some special goods have requirements for transportation time. For example, if it is a production material with requirements for the use temperature (mixed delivery of daily materials in industrial production sites is not excluded), the system sets that such goods need to be delivered within an empirical time such as 15 minutes. If planning is based only on the shortest time, special goods may not be delivered in time. If only special goods are given priority, the total delivery time is likely to be too long and the efficiency will decrease. Therefore, there is an urgent need for a method that can both ensure the transportation time of special goods and shorten the total transportation time as much as possible. Summary of the invention

[0004] The purpose of the present invention is to solve the problems raised by the background technology, and to propose a robot cargo loading and unloading condition response method, which continuously changes the path plan and determines whether the predicted delivery time of a specific type of cargo exceeds the set maximum delivery time T1, and finally obtains a path plan that satisfies the estimated delivery time of all specific types of cargo within the maximum delivery time T1 set by the system. While meeting the transportation timeliness requirements of special cargo, the overall delivery time is guaranteed to be as short as possible.

[0005] The technical solution of the present invention is as follows:

[0006] A robot cargo loading and unloading condition response method is provided. Different cargoes are contained in different standardized containers or storage compartments, so that the robot can automatically identify the cargo type during the loading stage and match the longest delivery time T1 of a specific cargo type A pre-stored in the system. Then, the robot automatically plans a path according to the superimposed tasks and completes all the tasks in sequence. When automatically planning the path, the robot first follows the total shortest path plan that can complete all the tasks, and then predicts the estimated delivery time of each cargo according to the plan. When the estimated delivery time of the specific cargo type A exceeds the longest delivery time T1 set by the system, the robot repeats the steps of changing the path plan and predicting the estimated delivery time of each cargo according to the path of the path plan from short to long, until the estimated delivery time of all the specific cargo types A is within the longest delivery time T1 of the specific cargo type A set by the system.

[0007] In the above-mentioned robot cargo handling condition response method, the robot executes a workflow comprising the following steps:

[0008] Step 1: The robot builds an environment map through its own perception hardware;

[0009] Step 2: Mark the standby area and workstation according to the environment map. Both the standby area and the workstation are equipped with interactive devices. The interactive devices are connected to the remote host and can communicate wirelessly with the robot.

[0010] Step 3: The remote host sends a task to the robot in the standby area through the interactive device. The robot plans the path according to the task to obtain the initial route and executes the task.

[0011] Step 4: When the robot moves along the initial route, it receives tasks sent by nearby interactive devices in real time, automatically plans paths for all superimposed unfinished tasks and updates the routes, and enters the standby area after completing all tasks in sequence.

[0012] In the above-mentioned robot cargo handling condition response method, the path planning step includes:

[0013] A. The robot in the standby area receives the task and generates a total shortest path plan that can complete all tasks. Then, it predicts the estimated delivery time of each cargo based on the current plan and determines whether the estimated delivery time of the specific cargo type A exceeds the maximum delivery time T1 set by the system. If yes, it goes to B. If not, it goes to C.

[0014] B. Generate other path plans based on all the current unfinished tasks. The robot changes the path plans in order from short to long and predicts the estimated delivery time of each cargo. It determines whether the estimated delivery time of the specific cargo type A in the current plan exceeds the maximum delivery time T1 set by the system. If yes, repeat B. If not, go to C.

[0015] C. Generate a route based on the current plan and execute it;

[0016] D. If a new task is received during the operation, the new task is superimposed to generate a total shortest path solution that can complete all unfinished tasks, and determine whether the unfinished tasks contain specific cargo type A. If so, go to E, if not, go to C;

[0017] E. Predict the estimated delivery time of each cargo based on the current plan, and determine whether the estimated delivery time of a specific cargo type A exceeds the maximum delivery time T1 set by the system. If so, go to B; if not, go to C.

[0018] In the method for responding to robot cargo loading and unloading conditions as described above, the perception hardware includes a lidar and / or a SLAM camera.

[0019] In the method for responding to cargo loading and unloading conditions of a robot as described above, the sensing hardware also includes pyroelectric infrared sensors, which are installed around the robot. The robot avoids people on the path based on information fed back by the pyroelectric infrared sensors. After the robot completes the avoidance, it performs path planning again and updates the route.

[0020] In the above-mentioned robot cargo handling condition response method, the interactive device and the robot communicate wirelessly via Bluetooth.

[0021] In the robot cargo loading and unloading condition response method as described above, the interactive device is connected to the remote host via an underground pre-buried optical fiber.

[0022] In the above-mentioned robot cargo loading and unloading condition response method, the interactive device includes a ground charging pile, and the robot is provided with a charging interface matching the ground charging pile.

[0023] In the above-mentioned robot cargo loading and unloading condition response method, the interactive device includes a wireless charging module buried underground, and the robot is equipped with a wireless charging coil.

[0024] The beneficial effects of the present invention are:

[0025] The robot cargo loading and unloading condition response method proposed in the present invention is different from any intelligent and personalized timed delivery scheme in the existing intelligent logistics technology. Instead, it adopts a targeted path planning method for a part of a large number of conventional goods that have special requirements for transportation time in a specific process-oriented and industrialized application occasion, and obtains the optimal path that meets the requirements. First, as a waiver of the existing scanning code customization working mode, the present invention realizes the automatic identification of the type of goods by the robot through different standardized containers or storage compartments, thereby obtaining the longest delivery time T1 of this type of goods set by the system as the empirical data for a whole category of goods; then the robot can automatically plan the path and perform multiple superimposed tasks in sequence. The designed planning path method, by constantly changing the path plan and judging whether the predicted delivery time of a specific type of goods exceeds the set maximum delivery time T1, finally obtains a path plan that satisfies the expected delivery time of all specific types of goods within the maximum delivery time T1 set by the system. While meeting the transportation time requirements of special goods, the shorter overall delivery time is guaranteed as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] By reading the detailed description of the preferred embodiment below, the scheme and advantages of the present application will become clear to those skilled in the art. The accompanying drawings are only for the purpose of illustrating the preferred embodiment and are not to be considered as limiting the present invention.

[0027] In the attached picture:

[0028] Figure 1 This is a schematic diagram of the path planning principle of Example 1 of the present invention. DETAILED DESCRIPTION

[0029] The exemplary embodiments of the present disclosure will be described in more detail below in conjunction with the accompanying drawings. It should be noted that these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. The present disclosure can be implemented in various forms and should not be limited by the embodiments described herein.

[0030] Example 1

[0031] See also Figure 1 , Figure 1 This is a schematic diagram of the path planning of Example 1 of the present invention. This example is a method for responding to cargo loading and unloading conditions of a robot. Different cargoes are contained in different standardized containers, so that the robot can automatically identify the type of cargo during the loading stage and match the longest delivery time T1 of the specific cargo type A pre-stored in the system.

[0032] Here, the specific cargo type A takes the items that need to be transported insulated as an example. It can be materials that have requirements on the operating temperature during production, or it can be the "mixed delivery" mentioned in the background technology. The system presets a maximum delivery time T1 for the item as the priority standard for priority delivery. At the same time, in order to reduce the workload brought by each coding identification, the specific cargo type A is contained in a standardized container that matches the robot host. The robot directly confirms the loading information of the specific cargo type A through sensor identification or port identification of the standardized container. When the robot identifies the loading of the standardized container corresponding to the specific cargo type A through the sensor or connection port, it directly defaults to the corresponding standardized container delivery target as the specific cargo type A. This automatic identification solution can save a lot of manual operation when the robot performs repetitive and high-frequency transportation tasks of different types of materials.

[0033] According to the method of this embodiment, after the robot automatically confirms the loading information of the specific cargo type A, it automatically plans the path according to the superimposed tasks and completes all tasks in sequence. When automatically planning the path, it first follows the total shortest path plan that can complete all tasks, and then predicts the estimated delivery time of each cargo based on the plan. When the estimated delivery time of the specific cargo type A exceeds the maximum delivery time T1 set by the system, the robot repeats the steps of changing the path plan and predicting the estimated delivery time of each cargo in the order of the paths of the path plan from short to long, until the estimated delivery time of all specific cargo types A is within the maximum delivery time T1 of the specific cargo type A set by the system.

[0034] Specifically, the robot executes a workflow comprising the following steps:

[0035] Step 1: The robot builds an environment map through its own perception hardware;

[0036] Step 2: Mark the standby area and workstation according to the environment map. Both the standby area and the workstation are equipped with interactive devices. The interactive devices are connected to the remote host and can communicate wirelessly with the robot.

[0037] Step 3: The remote host sends a task to the robot in the standby area through the interactive device. The robot plans the path according to the task to obtain the initial route and executes the task.

[0038] Step 4: When the robot moves along the initial route, it receives tasks sent by nearby interactive devices in real time, automatically plans paths for all superimposed unfinished tasks and updates the routes, and enters the standby area after completing all tasks in sequence.

[0039] Combine the following Figure 1 , the path planning steps performed by the robot include:

[0040] A. The robot in the standby area receives the task and generates a total shortest path plan that can complete all tasks. Then, it predicts the estimated delivery time of each cargo based on the current plan and determines whether the estimated delivery time of the specific cargo type A exceeds the maximum delivery time T1 set by the system. If yes, it goes to B. If not, it goes to C.

[0041] B. Generate other path plans based on all the current unfinished tasks. The robot changes the path plans in order from short to long and predicts the estimated delivery time of each cargo. It determines whether the estimated delivery time of the specific cargo type A in the current plan exceeds the maximum delivery time T1 set by the system. If yes, repeat B. If not, go to C.

[0042] C. Generate a route based on the current plan and execute it;

[0043] D. If a new task is received during the operation, the new task is superimposed to generate a total shortest path solution that can complete all unfinished tasks, and determine whether the unfinished tasks contain specific cargo type A. If so, go to E, if not, go to C;

[0044] E. Predict the estimated delivery time of each cargo based on the current plan, and determine whether the estimated delivery time of a specific cargo type A exceeds the maximum delivery time T1 set by the system. If so, go to B; if not, go to C.

[0045] In the above method, the robot relies on perception hardware to detect the surrounding environment, and the perception hardware includes a lidar and a SLAM camera. The SLAM camera is based on a visual positioning method and a synchronous composition algorithm. The lidar and the SLAM camera jointly realize distance detection of different objects in the environment, thereby generating an accurate environmental map.

[0046] In order to avoid collisions between the robot and people, the sensing hardware also includes pyroelectric infrared sensors, which are installed around the robot. The principle is to identify whether a person is approaching by sensing the movement of surrounding heat. The robot avoids the path based on the information fed back by the pyroelectric infrared sensors. Under normal circumstances, avoidance will not cause the robot position to deviate too far from the planned path. If the path deviates too much due to avoidance, the robot will re-plan the path after completing the avoidance and update the route, and perform the task according to the new route.

[0047] In order to facilitate the communication between the interactive device and the robot, the interactive device and the robot communicate wirelessly via Bluetooth, and the interactive device is connected to the remote host via underground pre-buried optical fiber, which directly avoids the problem of cables between the robot and the interactive device and between the interactive device and the remote host entangled in the robot, and optical communication has lower delay and higher stability.

[0048] In order to facilitate the robot to restore power in time, the interactive device includes a ground charging pile, and the robot is provided with a charging interface matching the ground charging pile. When power needs to be replenished, the robot connects to the charging pile nearby.

[0049] Furthermore, the interactive device includes a wireless charging module buried underground, and the robot is equipped with a wireless charging coil. The wireless charging technology not only saves the hardware cost of ground wired charging equipment, but also eliminates the need for the robot to avoid obstacles for charging hardware facilities, which is more convenient and easy to maintain.

[0050] In addition, according to the procedure introduced in this embodiment, if there is no route plan that satisfies the timely delivery of all specific cargo types A within the maximum delivery time T1 set by the system, the system can automatically change the value of the maximum delivery time T1 by adding a preset step value △T each time and then re-attempt route planning. This attempt can be made N times, where N is an integer ≥ 1. If there is still no route plan that satisfies the timely delivery of all specific cargo types A within the changed maximum delivery time T1 after N attempts, a response method can be selected from the following two options: ⅰ Select the route plan that can satisfy the delivery of the largest number of specific cargo types A within the maximum delivery time T1 before the change set by the system; ⅱ Select the route plan with the shortest cumulative timeout (exceeding T1 before the change) for all specific cargo types A.

[0051] Example 2

[0052] As introduced in Example 1, an important basis of the technical solution of the present invention is to reduce the manual code scanning procedure and realize automatic and rapid identification of specific cargo type A through the robot supporting system. Based on this, this embodiment provides another robot cargo loading and unloading condition response method, which is different from Example 1 in that, in Example 1, the specific cargo type A is contained in a standardized container matched with the robot host, and the robot confirms the loading information of the specific cargo type A through sensor identification or port identification of the standardized container, while in this embodiment, the robot can automatically identify the cargo type during the loading stage through the different storage compartments possessed by the robot itself. This solution is also to reduce the workload brought by each coding identification. The specific cargo type A is contained in a specific storage compartment matched with the robot, and the robot directly confirms the loading information of the specific cargo type A through the loading identification of the storage compartment. When the robot recognizes through the sensor that there is an item loaded in the storage compartment corresponding to the specific cargo type A, it directly defaults to the corresponding storage compartment as the specific cargo type A. This automatic identification solution can also save a lot of manual operations when the robot performs repeated and high-frequency transportation tasks of different types of materials.

[0053] In addition, it is preferred to set a shortcut key for quickly changing the task status of the storage compartment at least corresponding to the specific cargo type A. According to the needs of each delivery task, when the storage compartment corresponding to the specific cargo type A is used to hold cargo that does not need to be transported as priority, the task status of the storage compartment can be changed in real time by pressing a key, so that the staff does not have to select the robot path planning mode through the main interface every time to determine whether to predict the delivery time.

[0054] The judgment process after the robot in this embodiment automatically confirms the loading information of the specific cargo type A can refer to Example 1.

[0055] Through the robot cargo loading and unloading condition response method proposed in each embodiment of the present invention, for some cargoes with special requirements for transportation time, a targeted path planning method is adopted to obtain the optimal path that meets the requirements. First, the robot automatically recognizes the type of cargo through different standardized containers or storage compartments, thereby obtaining the maximum delivery time T1 of the type of cargo set by the system; then the robot can automatically plan the path and perform multiple superimposed tasks in sequence. The designed planning path method continuously changes the path plan and judges whether the predicted delivery time of a specific type of cargo exceeds the set maximum delivery time T1, and finally obtains a path plan that satisfies the expected delivery time of all specific types of cargo within the maximum delivery time T1 set by the system. While meeting the transportation time requirements of special cargoes, a shorter overall delivery time is guaranteed as much as possible. In addition, through laser radar and SLAM cameras, accurate environmental maps can be generated to ensure error-free cargo transportation; pyroelectric infrared sensors can avoid collisions with people; Bluetooth, optical fiber technology and wireless charging technology are used to remove hardware that interferes with robot travel and obstacle avoidance as much as possible, further improving the robot's transportation efficiency and reducing maintenance costs.

[0056] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or additions, subtractions or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A robot cargo handling condition response method, characterized in that: By using different standardized containers or storage compartments to hold different goods, the robot can automatically identify the type of goods during the loading stage and match the longest delivery time T1 of the specific cargo type A pre-stored in the system. The robot then automatically plans the path according to the superimposed tasks and completes all tasks in sequence. When automatically planning the path, it first follows the shortest path plan that can complete all tasks, and then predicts the estimated delivery time of each cargo based on the plan. When the estimated delivery time of the specific cargo type A exceeds the longest delivery time T1 set by the system, the steps of changing the path plan and predicting the estimated delivery time of each cargo are repeated in order from short to long according to the path of the path plan until the estimated delivery time of all specific cargo types A is within the longest delivery time T1 of the specific cargo type A set by the system.

2. A robot cargo handling condition response method according to claim 1, characterized in that: The robot executes a workflow comprising the following steps: Step 1: The robot builds an environment map through its own perception hardware; Step 2: Mark the standby area and workstation according to the environment map. Both the standby area and the workstation are equipped with interactive devices. The interactive devices are connected to the remote host and can communicate wirelessly with the robot. Step 3: The remote host sends a task to the robot in the standby area through the interactive device. The robot plans the path according to the task to obtain the initial route and executes the task. Step 4: When the robot moves along the initial route, it receives tasks sent by nearby interactive devices in real time, automatically plans paths for all superimposed unfinished tasks and updates the routes, and enters the standby area after completing all tasks in sequence.

3. A robot cargo handling condition response method according to claim 2, characterized in that: The path planning step includes: A. The robot in the standby area receives the task and generates a total shortest path plan that can complete all tasks. Then, it predicts the estimated delivery time of each cargo based on the current plan and determines whether the estimated delivery time of the specific cargo type A exceeds the maximum delivery time T1 set by the system. If yes, it goes to B. If not, it goes to C. B. Generate other path plans based on all the current unfinished tasks. The robot changes the path plans in order from short to long and predicts the estimated delivery time of each cargo. It determines whether the estimated delivery time of the specific cargo type A in the current plan exceeds the maximum delivery time T1 set by the system. If yes, repeat B. If not, go to C. C. Generate a route based on the current plan and execute it; D. If a new task is received during the operation, the new task is superimposed to generate a total shortest path solution that can complete all unfinished tasks, and determine whether the unfinished tasks contain specific cargo type A. If so, go to E, if not, go to C; E. Predict the estimated delivery time of each cargo based on the current plan, and determine whether the estimated delivery time of a specific cargo type A exceeds the maximum delivery time T1 set by the system. If so, go to B; if not, go to C.

4. A robot cargo handling condition response method according to claim 2, characterized in that: The perception hardware includes lidar and / or SLAM camera.

5. A robot cargo handling condition response method according to claim 4, characterized in that: The sensing hardware also includes pyroelectric infrared sensors, which are installed around the robot. The robot avoids people on the path based on information fed back by the pyroelectric infrared sensors. After the robot completes the avoidance, it plans the path again and updates the route.

6. A robot cargo handling condition response method according to claim 2, characterized in that: The interactive device and the robot communicate wirelessly via Bluetooth.

7. A robot cargo handling condition response method according to claim 2, characterized in that: The interactive device is connected to the remote host via underground pre-buried optical fiber.

8. A robot cargo handling condition response method according to claim 2, characterized in that: The interactive device includes a ground charging pile, and the robot is provided with a charging interface matching the ground charging pile.

9. A robot cargo handling condition response method according to claim 2, characterized in that: The interactive device includes a wireless charging module buried underground, and the robot is equipped with a wireless charging coil.

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