Control method of material sorting and distribution system and material sorting and distribution system

Abstract

The invention relates to the technical field of vehicle manufacturing, in particular to a control method of a material sorting and distributing system and the material sorting and distributing system, and aims to solve the problem that materials cannot be efficiently and smoothly sorted and distributed in the prior art. In order to achieve the purpose, the control method of the material sorting and distributing system comprises the steps that a material taking and placing robot is controlled to grab target materials; the material taking and placing robot is controlled to move to the multi-legged robot; a material taking and placing robot is controlled to place the target material on a material storage device; and controlling the multi-legged robot to move to the distribution position. According to the control method of the material sorting and distribution system, the material picking and placing robot and the multi-legged robot work cooperatively; the material sorting and distributing system can still efficiently and smoothly sort and distribute the materials under the conditions that the material storage positions are scattered, the distance between the material storage positions and the automobile position is long, and the road surface condition between the material storage positions and the automobile position is complex.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle manufacturing, and specifically provides a control method for a material sorting and delivery system and a material sorting and delivery system. Background Art

[0002] In the production process of automobiles, a variety of materials are used. For standardized production lines, the types of materials required for production and the material storage locations are relatively fixed. Usually, fixed automatic material-retrieving mechanisms are used to retrieve materials, and automatic guided vehicles (AGVs) are used to transport them. However, with the transformation and upgrading of the manufacturing industry, the market presents a variety of small batches and frequently changing production needs, which brings about the problem of scattered material storage locations, the long distance between the material storage location and the vehicle location, and the complex road conditions between the two. In this case, the existing sorting and distribution methods cannot efficiently and smoothly sort and distribute materials.

[0003] Accordingly, the art requires a new material sorting and delivery system control method and a material sorting and delivery system to solve the above problems. Summary of the invention

[0004] The present invention aims to solve the above technical problem, that is, to solve the problem that the prior art cannot efficiently and smoothly sort and distribute materials.

[0005] In a first aspect, the present invention provides a control method for a material sorting and delivery system, the material sorting and delivery system comprising: a material picking and placing robot, the material picking and placing robot being configured to be movable, the material picking and placing robot being provided with a grasping device, the grasping device being configured to grasp a target material; a multi-legged robot, the multi-legged robot being configured to be movable, the multi-legged robot being provided with a material storage device; the control method for the material sorting and delivery system comprising: controlling the material picking and placing robot to grasp the target material; controlling the material picking and placing robot to move to the multi-legged robot; controlling the material picking and placing robot to place the target material on the material storage device; and controlling the multi-legged robot to move to a delivery position.

[0006] When the above technical solution is adopted, since the multi-legged robot can move and deliver materials quickly and smoothly on rugged roads or paths with steps, and while the multi-legged robot is delivering materials, the material picking and placing robot can grab materials that need to be sorted and delivered later, and move directly to the multi-legged robot after grabbing, there is no need to wait for the multi-legged robot to travel back and forth, thus making full use of the time for the multi-legged robot to deliver materials, and can efficiently sort and deliver materials even when the material storage location is far away from the vehicle location. Therefore, through the coordinated work of the material picking and placing robot and the multi-legged robot, the material sorting and delivery system can still efficiently and smoothly sort and deliver materials when the material storage locations are scattered, the material storage locations are far away from the vehicle location, and the road conditions between the two are complicated.

[0007] In a specific implementation of the control method of the above-mentioned material sorting and delivery system, before the step of "controlling the material picking and placing robot to grab the target material", the control method also includes: obtaining a preset material picking position of the target material; controlling the material picking and placing robot to move to the material picking position.

[0008] When the above technical solution is adopted, when there are many types of materials and their storage locations are scattered, or the storage locations of the same material are relatively scattered, the material picking and placing robot cannot grab all the materials at a set location. The material picking and placing robot can be controlled to move to the material picking position corresponding to the target material to pick up the material, thereby further improving the flexibility and versatility of the material sorting and delivery system. After the material picking and placing robot completes the picking, it moves to the quadruped robot. There is no need to wait for the quadruped robot to move to a different material picking position and then place the material on the material storage device, thereby further improving the sorting and delivery efficiency.

[0009] In a specific implementation of the control method of the above-mentioned material sorting and distribution system, the step of "obtaining the material picking position of the target material" further includes: obtaining target rack information of the target rack storing the target material; and determining the material picking position corresponding to the target rack information.

[0010] When the above technical solution is adopted, the materials are usually stored on a material rack, and the material picking position corresponds to the target material rack where the target material is placed, so that the target material can be grabbed quickly and accurately.

[0011] In a specific implementation of the control method of the above-mentioned material sorting and delivery system, a visual sensor is provided on the material picking and placing robot, and the visual sensor is used to obtain image information; before the step of "controlling the material picking and placing robot to grab the target material", the control method also includes: obtaining preset feature information of the target material; controlling the visual sensor to obtain the image information of the material on the target material rack; identifying the target material based on the preset feature information and the image information; judging whether the target material is identified; if the target material is identified, obtaining the material position of the target material based on the image information; the step of "controlling the material picking and placing robot to grab the target material" further includes: controlling the material picking and placing robot to grab the target material based on the material position.

[0012] When the above technical solution is adopted, the target material on the target rack is identified and found by comparing the image information of the material on the target rack obtained by the visual sensor with the preset feature information of the target material. When the identification is successful, the material position is determined, and then the material picking and placing robot is controlled to grab the target material according to the material position, which can avoid picking up the wrong material and improve the accuracy of grabbing the target material.

[0013] In a specific implementation of the control method of the above-mentioned material sorting and delivery system, after the step of "identifying the target material", the control method further includes: if the target material is not identified, determining whether the number of times the target material is not identified is greater than or equal to a first set number of times; if the number of times the target material is not identified is less than the first set number of times, proceeding to "identifying the target material based on the preset feature information and the image information".

[0014] When the above technical solution is adopted, if the target material cannot be successfully identified, the identification is repeated to ensure that the target material can be accurately identified as much as possible.

[0015] In a specific implementation of the control method of the above-mentioned material sorting and delivery system, after the step of "determining whether the number of times the target material is not identified is greater than or equal to a first set number of times", the control method also includes: if the number of times the target material is not identified is greater than or equal to the first set number of times, a first reminder message is issued.

[0016] When the above technical solution is adopted, if the target material is not identified for multiple times, a first reminder message is issued so that the operator can assist in identification and / or find the cause.

[0017] In a specific implementation of the control method of the above-mentioned material sorting and delivery system, before the step of "controlling the material picking and placing robot to move to the multi-legged robot", the control method also includes: obtaining the position of the multi-legged robot; determining the delivery position based on the position of the multi-legged robot; the step of "controlling the material picking and placing robot to move to the multi-legged robot" further includes: controlling the material picking and placing robot to move to the delivery position.

[0018] When the above technical solution is adopted, the material picking and placing robot is controlled to move to the delivery position corresponding to the multi-legged robot, so that the material picking and placing robot can place the target material on the material storage device of the multi-legged robot.

[0019] In a specific implementation of the control method of the above-mentioned material sorting and distribution system, a pressure sensor and / or a displacement sensor is provided on the grasping device, the pressure sensor is used to detect the pressure information of the grasping arm of the grasping device, and the displacement sensor is used to detect the displacement information of the grasping arm of the grasping device; after the step of "controlling the material picking and placing robot to grab the target material", the control method also includes: obtaining the pressure information and / or the displacement information; based on the pressure information and / or the displacement information, judging whether the grasping is successful; the step of "controlling the material picking and placing robot to move to the multi-legged robot" further includes: if the grasping is successful, controlling the material picking and placing robot to move to the multi-legged robot.

[0020] When adopting the above technical solution, whether the grasping is successful is judged by pressure information or displacement information. After determining that the grasping is successful, the material picking and placing robot is controlled to move to the multi-legged robot to ensure that the material picking and placing robot grasps the target material and brings it to the multi-legged robot.

[0021] In a specific implementation of the control method of the material sorting and delivery system, after the step of "determining whether the grasping is successful", the control method further includes: if the grasping is not successful, going to the step of "controlling the material picking and placing robot to grasp the target material".

[0022] When the above technical solution is adopted, if the target material cannot be grasped successfully, the grasping is repeated to ensure as much as possible that the material picking and placing robot can successfully grasp the target material.

[0023] In a second aspect, the present invention further provides a material sorting and delivery system, which includes: a material picking and placing robot, which is configured to be movable, and is provided with a grasping device, and the grasping device is configured to be able to grasp target materials; a multi-legged robot, which is configured to be movable, and is provided with a material storage device; a processor; and a memory, which is suitable for storing multiple program codes, and the program codes are suitable for being loaded and run by the processor to execute the control method of the material sorting and delivery system.

[0024] When the above technical solution is adopted, through the coordinated work of the material picking and placing robot and the multi-legged robot, the material sorting and distribution system can still sort and distribute materials efficiently and smoothly even when the material storage locations are scattered, the material storage locations are far away from the vehicle locations, and the road conditions between the two are complicated.

[0025] Compared with the prior art, the control method of the material sorting and delivery system provided by the present invention has the following beneficial effects: since the multi-legged robot can move and deliver materials quickly and smoothly even on rugged roads or paths with steps, and while the multi-legged robot is delivering materials, the material picking and placing robot can grab materials that need to be sorted and delivered later, and move directly to the multi-legged robot after grabbing, without waiting for the multi-legged robot to go back and forth, thus making full use of the time for the multi-legged robot to deliver materials, and efficiently performing sorting and delivery even when the material storage location is far away from the vehicle location. Therefore, through the coordinated work of the material picking and placing robot and the multi-legged robot, the material sorting and delivery system can still efficiently and smoothly sort and deliver materials even when the material storage locations are scattered, the material storage locations are far away from the vehicle location, and the road conditions between the two are complicated. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings, in which:

[0027] Figure 1 It is a flow chart of the main steps of the control method of the material sorting and delivery system of the present invention;

[0028] Figure 2 It is a detailed step flow chart of an implementation method of a control method of a material sorting and delivery system of the present invention;

[0029] Figure 3 is a detailed step flow chart of another embodiment of the control method of the material sorting and delivery system of the present invention;

[0030] Figure 4 It is a detailed step flow chart of another implementation method of the material sorting and delivery system of the present invention. DETAILED DESCRIPTION

[0031] Some embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not used to limit the scope of protection of the present invention. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0032] It should be noted that in the description of the present invention, "processor" may include hardware, software or a combination of the two. The processor may be a central processing unit, a microprocessor, a digital signal processor or any other suitable processor. The processor has data and / or signal processing functions. The processor may be implemented in software, hardware or a combination of the two. The ordinal numbers "first", "second" etc. are used only for descriptive purposes and are not to be understood as indicating or implying relative importance.

[0033] In addition, it should be noted that in the description of the present invention, although the various steps of the control method of the present invention are described in this application in a specific order, these orders are not restrictive. Without departing from the basic principles of the present invention, those skilled in the art can perform the steps in a different order.

[0034] Based on the problems pointed out in the background technology, the existing technology has the problems of low sorting efficiency, poor flexibility and versatility in the sorting and distribution of materials. The purpose is to control the material picking and placing robot to grab the target material, and then move it to the multi-legged robot to place the target material on the material storage device of the multi-legged robot. The multi-legged robot transports the target material to the distribution position to realize the sorting and distribution of materials. Since the multi-legged robot can move and distribute materials quickly and smoothly on rugged roads or paths with steps, and while the multi-legged robot is distributing materials, the material picking and placing robot can grab the materials that need to be sorted and distributed later, and move directly to the multi-legged robot after the grabbing is completed, there is no need to wait for the multi-legged robot to go back and forth, and the time of the multi-legged robot to distribute materials is fully utilized. When the material storage location is far away from the vehicle location, it can also efficiently perform sorting and distribution. Therefore, through the coordinated work of the material picking and placing robot and the multi-legged robot, the material sorting and distribution system can still efficiently and smoothly sort and distribute materials when the material storage locations are scattered, the material storage locations are far away from the vehicle location, and the road conditions between the two are complicated.

[0035] The material sorting and distribution system of the present invention includes a material picking and placing robot and a multi-legged robot; the material picking and placing robot is configured to be movable, and is provided with a grasping device and a visual sensor, the grasping device is configured to grasp the target material, and the visual sensor is used to obtain image information; the multi-legged robot is configured to be movable, and is provided with a material storage device for storing the target material.

[0036] Optionally, the material picking and placing robot and the multi-legged robot may also be provided with a radar sensor, which can obtain distance information for determining the current position of the robot or detecting obstacles; the multi-legged robot may also be provided with a visual sensor, which can obtain image information for determining the current position of the robot or detecting obstacles; the number of visual sensors and radar sensors on a single robot can be one or more.

[0037] Optionally, the material picking and placing robot can be a humanoid robot, and accordingly, the grasping device can be the arm and hand of the humanoid robot, or a separate grasping device, the separate grasping device is connected to the arm of the humanoid robot or directly connected to the body of the humanoid robot, and the separate grasping device can be a grasping manipulator or a gripper, etc., as long as it can grasp the target material; the visual sensor on the material picking and placing robot can be installed on the head of the humanoid robot, or on the arm of the humanoid robot. Since both humanoid robots and multi-legged robots can move quickly and smoothly on rugged roads or paths with steps, they can efficiently sort and distribute materials on the spot when the road conditions are complex. In addition, the material picking and placing robot can also be other robots, as long as it can move and grasp the target material. Furthermore, the multi-legged robot can be a quadruped robot or a hexapod robot or a robot with other legs, as long as it can quickly move on the spot and distribute materials when the road conditions are complex.

[0038] Furthermore, a pressure sensor and a displacement sensor are provided on the grasping device. The pressure sensor is used to detect the pressure information of the grasping arm of the grasping device, and the displacement sensor is used to detect the displacement information of the grasping arm of the grasping device, so that when the grasping device grasps the target material, it is determined whether the grasping device successfully grasps the target material through the pressure information and / or displacement information.

[0039] The material sorting and delivery system also includes a controller, which includes a processor and a memory. The memory is suitable for storing multiple program codes, and the program codes are suitable for being loaded and run by the processor to execute the detection method of the material sorting and delivery system. The processor can be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, field programmable gate arrays or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The memory can be an internal storage unit of the material sorting and delivery system, such as a hard disk or memory, etc.; the memory can also be an external storage device of the material sorting and delivery system, for example, a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, etc. equipped on the material sorting and delivery system; the memory can also include both an internal storage unit and an external storage unit of the material sorting and delivery system. The material sorting and delivery system may include multiple memories and multiple processors, each processor executing different steps respectively. The multiple processors may be processors deployed on the same device or processors deployed on different devices. For example, the multiple processors may be processors on the material sorting and delivery system and processors on a cloud server respectively, or processors on the material sorting and delivery system, processors on a material picking and placing robot, and processors on a multi-legged robot respectively. The controller may directly control the material picking and placing robot and the multi-legged robot. The material picking and placing robot and the multi-legged robot may also be provided with separate material picking and placing robot controllers and multi-legged robot controllers. The controller of the material sorting and delivery system realizes control of the material picking and placing robot and the multi-legged robot by communicating with the material picking and placing robot controller and the multi-legged robot controller.

[0040] See first Figure 1 , which shows the main steps of the control method of the material sorting and distribution system of the present invention, such as Figure 1 As shown, the control method in this embodiment mainly includes the following steps S101 to S104:

[0041] Step S101: Control the material picking and placing robot to grab the target material.

[0042] Step S102: Control the material picking and placing robot to move to the multi-legged robot.

[0043] Step S103: Control the material picking and placing robot to place the target material on the material storage device.

[0044] Step S104: Control the multi-legged robot to move to the delivery location.

[0045] The delivery location may be a preset fixed location corresponding to the target material, or may be the location of the operator; the delivery location may be a global coordinate value.

[0046] Through the control method of steps S101 to S104, the material picking and placing robot is controlled to grab the target material, and then move to the multi-legged robot to place the target material on the material storage device of the multi-legged robot. The multi-legged robot transports the target material to the distribution position to realize the sorting and distribution of the material. Since the multi-legged robot can move and distribute materials quickly and smoothly on rugged roads or paths with steps, and while the multi-legged robot is distributing materials, the material picking and placing robot can grab the materials that need to be sorted and distributed later, and move directly to the multi-legged robot after the grabbing is completed, without waiting for the multi-legged robot to go back and forth, thus making full use of the time for the multi-legged robot to distribute materials, and efficiently performing sorting and distribution when the material storage location is far away from the vehicle location. Therefore, through the coordinated work of the material picking and placing robot and the multi-legged robot, the material sorting and distribution system can still efficiently and smoothly sort and distribute materials when the material storage locations are scattered, the material storage locations are far away from the vehicle location, and the road conditions between the two are complicated.

[0047] It should be noted that before the material picking and placing robot and the multi-legged robot move, the SLAM technology can be used to generate an environmental map and determine its own position as the starting point, and then the global coordinates of the end point can be obtained. After planning the moving path according to the starting point and the end point, the material picking and placing robot and the multi-legged robot can be controlled to move along the moving path. During the movement of the material picking and placing robot and the multi-legged robot, obstacles on the moving path can also be detected in real time through visual sensors and / or radar sensors. When obstacles are detected, the robot is controlled to avoid them to ensure the normal movement of the robot.

[0048] Possibly, after step S103, if there is no sorting task to be performed, the material picking and placing robot is controlled to return to the preset first initial position; if there is still a sorting task to be performed, it is directly moved to the material picking position of the next material to be grabbed. After step S104, after the multi-legged robot is controlled to unload the target material, or after receiving the instruction to take the material away, the multi-legged robot is controlled to return to the preset second initial position to improve the working efficiency of the material sorting and distribution system.

[0049] See below Figure 2 , which shows an implementation of the control method of the material sorting and distribution system of the present invention, which specifically includes the following steps:

[0050] Step S201: Acquire target rack information of a target rack storing a target material.

[0051] Step S202: Determine the material picking position corresponding to the target material rack information.

[0052] Since materials are usually stored on racks, different rack numbers and the correspondence between different materials and rack numbers are preset in the material sorting and distribution system. The rack information may include the rack number and the material fetching position corresponding to the rack. Therefore, based on the target material, the corresponding material fetching position can be determined; the material fetching position can be a global coordinate value, and the material fetching position is usually set on one side of the rack to facilitate the material picking robot to grab the material.

[0053] Step S203: Control the material picking and placing robot to move to the material picking position.

[0054] Step S204: Obtain preset characteristic information of the target material.

[0055] The preset characteristic information may include at least one of the color, length and area of ​​the material, which is pre-stored in the material sorting and distribution system.

[0056] Step S205: Control the visual sensor to obtain image information of the material on the target rack.

[0057] It should be noted that the order of step S204 and step S205 can be adjusted as needed, or step S204 and step S205 can be performed simultaneously.

[0058] Step S206: Identify the target material based on the preset feature information and image information.

[0059] The method for identifying the target material can specifically be: analyzing and processing the image information to obtain feature information of the material in the image, the feature information is of the same type as the preset feature information, the length and area information of the material can be determined by the contour information of the material in the image, and the various feature information of the material in the acquired image is compared with the preset feature information of the target material one by one to find the material that meets the preset feature information.

[0060] Step S207: Determine whether the target material is identified. If the determination result is yes, execute step S208; if the determination result is no, execute step S209.

[0061] If a material that matches the preset feature information can be found, it is determined that the target material has been identified; if a material that matches the preset feature information cannot be found, it is determined that the target material cannot be identified. If the target material cannot be identified, the material picking and placing robot is controlled to repeatedly identify multiple times to ensure that the target material can be accurately identified as much as possible.

[0062] Step S208: Based on the image information, the material position of the target material is obtained. After step S208, step S210 is executed.

[0063] Step S209: Determine whether the number of times the target material is not identified is greater than or equal to the first set number of times. If the determination result is yes, execute step S211; if the determination result is no, execute step S206.

[0064] In the case where the target material cannot be identified, the material picking and placing robot is controlled to identify the target material repeatedly to ensure that the target material can be identified accurately as much as possible.

[0065] Step S210: Based on the material position, control the material picking and placing robot to grab the target material.

[0066] Step S211: Sending a first reminder message.

[0067] If the target material is not identified after multiple identifications, a first reminder message is issued to remind the operator that the material picking and placing robot has not identified the target material for multiple times, so that the operator can assist in identification and / or find the cause; the form of the reminder message may include but is not limited to voice type information, text type information, light type information, etc.; the subject that issues the reminder message may include but is not limited to the material sorting and distribution system and terminal equipment, etc.; the specific reminder method can be a combination of any of the above reminder forms and reminder subjects, as long as it can have the effect of reminding the operator, and those skilled in the art can choose according to the specific needs of the actual application, and no specific limitation is made here. Among them, the voice type information can send reminder information to the operator in the form of voice broadcast, or remind the operator in the form of a buzzer prompt; the text type information can send reminder information to the operator in the form of a pop-up floating window or scrolling playback; the light type information can be a light mode that is on for a long time or intermittently. The above reminder mode settings are only for exemplary explanations, and can be selected according to actual needs in actual applications. While issuing the first reminder message, the control method can also include: recording abnormal information.

[0068] Through the control method of steps S201 to S211, the correct target material can be accurately identified even when the types of materials vary, thereby improving the accuracy of grabbing the target material and improving the flexibility and versatility of material sorting and distribution.

[0069] See below Figure 3 , which shows another implementation of the control method of the material sorting and distribution system of the present invention, which specifically includes the following steps:

[0070] Step S301: obtaining pressure information;

[0071] After the material picking and placing robot grabs the target material, specifically, step S301 may be executed after step S210 or after step S101.

[0072] Step S302: Based on the pressure information, determine whether the capture is successful. If the determination result is yes, execute step S303; if the determination result is no, execute step S304.

[0073] After the grasping device successfully grasps the target material, the pressure on the grasping arm will increase. When the pressure falls within the set pressure range, the grasping is determined to be successful. When the pressure falls outside the set pressure range, the grasping is determined to have failed. The set pressure range is a preset pressure range close to the weight of the target material. For example, if the weight of the target material is 1kg, the set pressure range can be 0.95-1.05kg. When the obtained pressure value is within the range of 0.95-1.05kg, the grasping is determined to be successful. When the obtained pressure value is outside the range of 0.95-1.05kg, the grasping is determined to have failed. It can be understood by those skilled in the art that, although it is described above that whether the grasping is successful is determined by pressure information, this is not restrictive. It is also possible to determine whether the grasping is successful by displacement information measured by a displacement sensor. After the grasping device successfully grasps the target material, the displacement of the grasping arm will change according to the outer dimensions of the grasped target material. Therefore, it can be determined whether the grasping device has grasped the target material according to the displacement of the grasping arm. For example, if the set size range is 155mm-165mm, the initial distance between the two grasping arms is 200mm, and the relative displacement between the two grasping arms after grasping is 40mm, it can be known that the corresponding outer dimensions of the grasped material are 160mm, and 160mm falls within the set size range of 155mm-165mm, so it is determined that the grasping is successful; on the contrary, if the set size range is 165mm-175mm, 160mm does not fall within the set size range of 165mm-175mm, so it is determined that the grasping fails. Wherein, the set size range is a size range preset according to the outer dimensions of the target material.

[0074] Step S303: Obtain the position of the multi-legged robot.

[0075] The position of the multi-legged robot may be the global coordinates of the multi-legged robot.

[0076] Step S304: Determine whether the number of unsuccessful captures is greater than or equal to a second set number. If the determination result is yes, execute step S305; if the determination result is no, execute step S210.

[0077] In the event of a grasping failure, the material picking and placing robot is controlled to grasp the material repeatedly to ensure that the target material can be grasped successfully as much as possible.

[0078] Step S305: Send a second reminder message.

[0079] If multiple grabbing fails, a second reminder message is issued to remind the operator that the material picking and placing robot has failed to grab the target material multiple times, so that the operator can assist in grabbing and / or find the cause. While issuing the second reminder message, the control method can also include: recording abnormal information.

[0080] Through the control method of steps S301 to S305, it is possible to ensure that the material picking and placing robot can grab the target material, avoid grabbing the wrong material or grabbing nothing, and improve the working efficiency and reliability of the material sorting and distribution system.

[0081] See below Figure 4 , which shows another embodiment of the control method of the material sorting and distribution system of the present invention, which specifically includes the following steps:

[0082] Step S401: Obtain the position of the multi-legged robot.

[0083] After the material picking and placing robot grabs the target material, specifically, step S401 may be executed after step S302 if the judgment result is yes, or step S401 may be executed after step S101.

[0084] Step S402: Determine the delivery position based on the position of the multi-legged robot.

[0085] Since the relative coordinates of the delivery position in the multi-legged robot coordinate system are pre-stored in the material sorting and distribution system, the global coordinates of the delivery position can be calculated based on the global coordinates of the multi-legged robot and the relative coordinates of the delivery position, and the moving path of the material picking and placing robot can be planned based on the global coordinates of the delivery position.

[0086] Step S403: Control the material picking and placing robot to move to the delivery position.

[0087] Through the control method of step S401 to step S403, it is possible to facilitate the material picking and placing robot to move the target material to the multi-legged robot and place the target material on the material storage device of the multi-legged robot.

[0088] It should be noted that the above-mentioned embodiments are only used to illustrate the principles of the present invention and are not intended to limit the scope of protection of the present invention. Without departing from the principles of the present invention, those skilled in the art can adjust the above-mentioned embodiments so that the present invention can be applied to more specific application scenarios.

[0089] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A control method for a material sorting and delivery system, characterized in that: The material sorting and distribution system comprises: A material picking and placing robot, wherein the material picking and placing robot is configured to be movable, and a grasping device is provided on the material picking and placing robot, and the grasping device is configured to grasp a target material; A multi-legged robot, wherein the multi-legged robot is configured to be movable and is provided with a material storage device; The control method of the material sorting and delivery system comprises: Controlling the material picking and placing robot to grab the target material; Controlling the material picking and placing robot to move to the multi-legged robot; Controlling the material picking and placing robot to place the target material on the material storage device; The multi-legged robot is controlled to move to a delivery location.

2. The control method of the material sorting and delivery system according to claim 1, characterized in that: Before the step of "controlling the material picking and placing robot to grab the target material", the control method further includes: Obtaining a preset material fetching position of the target material; Control the material picking and placing robot to move to the material picking position.

3. The control method of the material sorting and distribution system according to claim 2, characterized in that: The step of "obtaining the material fetching position of the target material" further includes: Acquire target rack information of a target rack storing the target material; Determine the material picking position corresponding to the target material rack information.

4. The control method of the material sorting and delivery system according to claim 3, characterized in that: The material picking and placing robot is provided with a visual sensor, and the visual sensor is used to obtain image information; Before the step of "controlling the material picking and placing robot to grab the target material", the control method further includes: Acquiring preset characteristic information of the target material; Controlling the visual sensor to obtain the image information of the material on the target rack; Based on the preset feature information and the image information, identifying the target material; Determining whether the target material is identified; If the target material is identified, obtaining the material position of the target material based on the image information; The step of "controlling the material picking and placing robot to grab the target material" further includes: Based on the material position, the material picking and placing robot is controlled to grab the target material.

5. The control method of the material sorting and delivery system according to claim 4, characterized in that: After the step of "identifying the target material", the control method further comprises: If the target material is not identified, determining whether the number of times the target material is not identified is greater than or equal to a first set number of times; If the number of times that the target material is not identified is less than the first set number of times, go to "identifying the target material based on the preset feature information and the image information".

6. The control method of the material sorting and delivery system according to claim 5, characterized in that: After the step of "determining whether the number of times the target material is not identified is greater than or equal to a first set number of times", the control method further includes: If the number of times that the target material is not identified is greater than or equal to the first set number of times, a first reminder message is issued.

7. The control method of the material sorting and delivery system according to claim 1, characterized in that: Before the step of "controlling the material picking and placing robot to move to the multi-legged robot", the control method further includes: Obtaining the position of the multi-legged robot; determining a delivery location based on the position of the multi-legged robot; The step of "controlling the material picking and placing robot to move to the multi-legged robot" further includes: Control the material picking and placing robot to move to the delivery position.

8. The control method of the material sorting and delivery system according to claim 1, characterized in that: The gripping device is provided with a pressure sensor and / or a displacement sensor, wherein the pressure sensor is used to detect the pressure information of the gripping arm of the gripping device, and the displacement sensor is used to detect the displacement information of the gripping arm of the gripping device; After the step of "controlling the material picking and placing robot to grab the target material", the control method further includes: Acquiring the pressure information and / or the displacement information; Based on the pressure information and / or the displacement information, determining whether the grasping is successful; The step of "controlling the material picking and placing robot to move to the multi-legged robot" further includes: If the grasping is successful, the material picking and placing robot is controlled to move to the multi-legged robot.

9. The control method of the material sorting and delivery system according to claim 8, characterized in that: After the step of "determining whether the capture is successful", the control method further includes: If the grasping is not successful, go to step "controlling the material picking and placing robot to grasp the target material".

10. A material sorting and delivery system, characterized in that: The material sorting and distribution system comprises: A material picking and placing robot, wherein the material picking and placing robot is configured to be movable, and a grasping device is provided on the material picking and placing robot, and the grasping device is configured to grasp a target material; A multi-legged robot, wherein the multi-legged robot is configured to be movable and is provided with a material storage device; processor; A memory, wherein the memory is suitable for storing a plurality of program codes, wherein the program codes are suitable for being loaded and run by the processor to execute the control method of the material sorting and distribution system according to any one of claims 1 to 9.

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