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

Abstract

The present application relates to the technical field of vehicle manufacturing, and particularly provides a control method of a material sorting and distribution system and the material sorting and distribution system, aiming at solving the problem that the prior art cannot efficiently and smoothly sort and distribute materials. To this end, the control method of the material sorting and distribution system comprises: controlling a material taking and placing robot to grab a target material; controlling the material taking and placing robot to move to a multi-legged robot; controlling the material taking and placing robot to place the target material on a material storage device; and controlling the multi-legged robot to move to a distribution position. The control method of the material sorting and distribution system makes the material sorting and distribution system still be able to efficiently and smoothly sort and distribute materials under the condition that the material storage positions are dispersed, the distance between the material storage positions and the automobile positions is relatively long, and the road surface condition between the material storage positions and the automobile positions is complex.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle manufacturing, and particularly provides a control method of a material sorting and distributing system and the material sorting and distributing system. BACKGROUND

[0002] In the production process of an automobile, a plurality of materials are used. For a standardized production line, the types of materials required for production and the storage positions of the materials are relatively fixed, and a fixed automatic material taking mechanism is usually used to take out the materials, and an automatic guided vehicle (AGV) is used to realize transportation. However, with the transformation and upgrading of the manufacturing industry, the market presents production requirements of multi-variety, small batch and frequent change, which brings problems of scattered storage positions of materials, long distance between the storage positions of materials and the positions of automobiles, and complex road conditions between the storage positions of materials and the positions of automobiles. In this case, the existing sorting and distributing methods cannot efficiently and smoothly sort and distribute the materials.

[0003] Correspondingly, there is a need in the art for a new control method of a material sorting and distributing system and the material sorting and distributing system to solve the above problems. SUMMARY

[0004] The present application aims to solve the above technical problems, 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 application provides a control method of a material sorting and distributing system, the material sorting and distributing system comprising: a material taking and placing robot, the material taking and placing robot being arranged to be movable, the material taking and placing robot being provided with a grabbing device, the grabbing device being arranged to be capable of grabbing a target material; a multi-legged robot, the multi-legged robot being arranged to be movable, the multi-legged robot being provided with a material storage device; the control method of the material sorting and distributing system comprising: controlling the material taking and placing robot to grab the target material; controlling the material taking and placing robot to move to the multi-legged robot; controlling the material taking and placing robot to place the target material on the material storage device; and controlling the multi-legged robot to move to a distribution position.

[0006] In the above technical solution, the multi-legged robot can quickly and smoothly move and deliver materials on rough roads or paths with steps, and while the multi-legged robot is delivering materials, the material taking and placing robot can grasp the subsequent materials that need to be sorted and delivered, and directly move to the multi-legged robot after the grasping is completed, without waiting for the multi-legged robot to return, thereby fully utilizing the time of the multi-legged robot delivering materials, and efficiently sorting and delivering materials even when the material storage location and the vehicle location are far apart and the road surface between them is complex. Through the cooperation of the material taking and placing robot and the multi-legged robot, the material sorting and delivering system can still efficiently and smoothly sort and deliver materials even when the material storage locations are dispersed, the material storage locations and the vehicle location are far apart, and the road surface between them is complex.

[0007] In the specific embodiment of the control method of the above material sorting and delivering system, before the step of "controlling the material taking and placing robot to grasp the target material", the control method further includes: obtaining a preset material taking position of the target material; and controlling the material taking and placing robot to move to the material taking position.

[0008] In the above technical solution, when there are many types of materials and the storage locations are dispersed, or the storage locations of the same type of material are dispersed, the material taking and placing robot cannot grasp all the materials at a set position, and can move to the material taking position corresponding to the target material to take the material, thereby further improving the flexibility and versatility of the material sorting and delivering system, and the material taking and placing robot moves to the four-legged robot after taking the material, without waiting for the four-legged robot to move to different material taking positions to place the material on the material storage device, thereby further improving the sorting and delivering efficiency.

[0009] In the specific embodiment of the control method of the above material sorting and delivering system, the step of "obtaining the material taking position of the target material" further includes: obtaining target shelf information of a target shelf storing the target material; and determining the material taking position corresponding to the target shelf information.

[0010] In the above technical solution, materials are usually stored on shelves, and the material taking position corresponds to the target shelf where the target material is placed, so that the target material can be quickly and accurately grasped.

[0011] In the specific embodiment of the control method of the material sorting and distribution system, the material taking and placing robot is provided with a vision sensor, and the vision sensor is used to acquire image information. Before the step of "controlling the material taking and placing robot to grasp the target material", the control method further comprises: acquiring preset characteristic information of the target material; controlling the vision sensor to acquire the image information of the material on the target rack; identifying the target material based on the preset characteristic information and the image information; determining whether the target material is identified; if the target material is identified, acquiring the material position of the target material based on the image information; and the step of "controlling the material taking and placing robot to grasp the target material" further comprises: controlling the material taking and placing robot to grasp the target material based on the material position.

[0012] In the specific embodiment of the control method of the material sorting and distribution system, the material taking and placing robot is provided with a vision sensor, and the vision sensor is used to acquire image information. Before the step of "controlling the material taking and placing robot to grasp the target material", the control method further comprises: acquiring preset characteristic information of the target material; controlling the vision sensor to acquire the image information of the material on the target rack; identifying the target material based on the preset characteristic information and the image information; determining whether the target material is identified; if the target material is identified, acquiring the material position of the target material based on the image information; and the step of "controlling the material taking and placing robot to grasp the target material" further comprises: controlling the material taking and placing robot to grasp the target material based on the material position.

[0013] In the specific embodiment of the control method of the material sorting and distribution system, 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 that the target material is not identified is greater than or equal to a first set number of times; and if the number of times that the target material is not identified is less than the first set number of times, returning to the step of "identifying the target material based on the preset characteristic information and the image information".

[0014] In the specific embodiment of the control method of the material sorting and distribution system, 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 that the target material is not identified is greater than or equal to a first set number of times; and if the number of times that the target material is not identified is less than the first set number of times, returning to the step of "identifying the target material based on the preset characteristic information and the image information".

[0015] In the specific embodiment of the control method of the material sorting and distribution system, 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 that the target material is not identified is greater than or equal to a first set number of times; and if the number of times that the target material is not identified is less than the first set number of times, returning to the step of "identifying the target material based on the preset characteristic information and the image information".

[0016] In the specific embodiment of the control method of the material sorting and distribution system, 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 that the target material is not identified is greater than or equal to a first set number of times; and if the number of times that the target material is not identified is less than the first set number of times, returning to the step of "identifying the target material based on the preset characteristic information and the image information".

[0017] In the specific embodiment of the control method of the material sorting and distribution system, before the step of "controlling the material taking and placing robot to move to the position of the multi-legged robot", the control method further comprises: acquiring the position of the multi-legged robot; determining a delivery position based on the position of the multi-legged robot; and the step of "controlling the material taking and placing robot to move to the position of the multi-legged robot" further comprises: controlling the material taking and placing robot to move to the delivery position.

[0018] In the specific embodiment of the control method of the material sorting and distribution system, before the step of "controlling the material taking and placing robot to move to the position of the multi-legged robot", the control method further comprises: acquiring the position of the multi-legged robot; determining a delivery position based on the position of the multi-legged robot; and the step of "controlling the material taking and placing robot to move to the position of the multi-legged robot" further comprises: controlling the material taking and placing robot to move to the delivery position.

[0019] In the specific embodiment of the control method of the material sorting and distribution system, the grabbing device is provided with a pressure sensor and / or a displacement sensor, the pressure sensor is used to detect pressure information of a grabbing arm of the grabbing device, and the displacement sensor is used to detect displacement information of the grabbing arm of the grabbing device; after the step of "controlling the material taking and placing robot to grab the target material", the control method further comprises: acquiring the pressure information and / or the displacement information; determining whether the grabbing is successful based on the pressure information and / or the displacement information; and the step of "controlling the material taking and placing robot to move to the position of the multi-legged robot" further comprises: if the grabbing is successful, controlling the material taking and placing robot to move to the position of the multi-legged robot.

[0020] In the specific embodiment of the control method of the material sorting and distribution system, before the step of "controlling the material taking and placing robot to move to the position of the multi-legged robot", the control method further comprises: acquiring the position of the multi-legged robot; determining a delivery position based on the position of the multi-legged robot; and the step of "controlling the material taking and placing robot to move to the position of the multi-legged robot" further comprises: controlling the material taking and placing robot to move to the delivery position.

[0021] In the specific embodiment of the control method of the material sorting and distribution system, after the step of "determining whether the grabbing is successful", the control method further comprises: if the grabbing is not successful, returning to the step of "controlling the material taking and placing robot to grab the target material".

[0022] In the specific embodiment of the control method of the material sorting and distribution system, before the step of "controlling the material taking and placing robot to move to the position of the multi-legged robot", the control method further comprises: acquiring the position of the multi-legged robot; determining a delivery position based on the position of the multi-legged robot; and the step of "controlling the material taking and placing robot to move to the position of the multi-legged robot" further comprises: controlling the material taking and placing robot to move to the delivery position.

[0023] In a second aspect, the present application also provides a material sorting and distributing system, comprising: a material taking and placing robot, which is arranged to be movable, and is provided with a grabbing device arranged to grab target material; a multi-legged robot, which is arranged to be movable, and is provided with a material storage device; a processor; and a memory adapted to store a plurality of program codes adapted to be loaded and run by the processor to execute a control method of the material sorting and distributing system.

[0024] In the case of adopting the technical scheme, through the cooperative work of the material taking and placing robot and the multi-legged robot, the material sorting and distributing system can still efficiently and smoothly sort and distribute material in the case that the material storage positions are dispersed, the distance between the material storage positions and the automobile positions is far, and the road surface condition between the material storage positions and the automobile positions is complex.

[0025] Compared with the prior art, the control method of the material sorting and distributing system provided by the present application has the beneficial effect that: since the multi-legged robot can quickly and smoothly move and distribute material on rugged road surfaces or paths with steps, and while the multi-legged robot is distributing material, the material taking and placing robot can grab the subsequent material that needs to be sorted and distributed, and directly move to the multi-legged robot after the grabbing is completed, without waiting for the multi-legged robot to return, the time for the multi-legged robot to distribute material is fully utilized, and efficient sorting and distribution can be performed even when the distance between the material storage positions and the automobile positions is far, so that through the cooperative work of the material taking and placing robot and the multi-legged robot, the material sorting and distributing system can still efficiently and smoothly sort and distribute material in the case that the material storage positions are dispersed, the distance between the material storage positions and the automobile positions is far, and the road surface condition between the material storage positions and the automobile positions is complex. BRIEF DESCRIPTION OF DRAWINGS

[0026] The preferred embodiments of the present application will be described below with reference to the accompanying drawings, in which:

[0027] Figure 1 is a main step flowchart of the control method of the material sorting and distributing system of the present application;

[0028] Figure 2 is a detailed step flowchart of one embodiment of the control method of the material sorting and distributing system of the present application;

[0029] Figure 3 is a detailed step flowchart of another embodiment of the control method of the material sorting and distributing system of the present application;

[0030] Figure 4 is a detailed step flowchart of still another embodiment of the control method of the material sorting and distributing system of the present application. DETAILED DESCRIPTION

[0031] Some embodiments of the present application will be described in detail with reference to the drawings. It should be understood that the embodiments are only used to explain the technical principles of the present application, and are not used to limit the scope of protection of the present application. Those skilled in the art can make adjustments as needed to adapt to specific application occasions.

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

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

[0034] Based on the background art, the problems in the prior art are that the sorting and distribution of materials have low sorting efficiency, poor flexibility and poor universality. The present application aims to control the material taking and placing robot 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 carries the target material to the distribution position to realize the sorting and distribution of the material. Since the multi-legged robot can quickly and smoothly move and distribute materials on rough roads or paths with steps, and while the multi-legged robot is distributing materials, the material taking and placing robot can grab the subsequent materials that need to be sorted and distributed, and directly move to the multi-legged robot after grabbing, without waiting for the multi-legged robot to return. The time for the multi-legged robot to distribute materials is fully utilized, and the sorting and distribution can be efficiently performed even when the distance between the material storage position and the vehicle position is far. Therefore, through the cooperative work of the material taking and placing robot and the multi-legged robot, the material sorting and distribution system can still efficiently and smoothly sort and distribute materials even when the material storage positions are dispersed, the distance between the material storage position and the vehicle position is far, and the road conditions between them are complex.

[0035] The material sorting and distribution system comprises a material taking and placing robot and a multi-legged robot; the material taking and placing robot is arranged to be movable, and the material taking and placing robot is provided with a grabbing device and a visual sensor; the grabbing device is arranged to be capable of grabbing a target material, and the visual sensor is used to acquire image information; the multi-legged robot is arranged to be movable, and the multi-legged robot is provided with a material storage device for storing the target material.

[0036] Optionally, the material taking and placing robot and the multi-legged robot can also be provided with a radar sensor; the radar sensor is capable of acquiring distance information, and is used to determine the current position of the robot or detect obstacles; the multi-legged robot can also be provided with a visual sensor; the visual sensor is capable of acquiring image information, and is used to determine the current position of the robot or detect obstacles; the number of visual sensors and radar sensors on a single robot can be one or more.

[0037] Optionally, the material taking and placing robot can be a humanoid robot, and correspondingly, the grabbing device can be the arm and hand of the humanoid robot, or a separate grabbing device connected to the arm of the humanoid robot or directly connected to the body of the humanoid robot; the separate grabbing device can be a grabbing manipulator or a gripper, etc., as long as it can grab the target material; the visual sensor on the material taking and placing robot can be installed on the head of the humanoid robot or on the arm of the humanoid robot. Since the humanoid robot and the multi-legged robot can move quickly and smoothly on rough roads or paths with steps, they can efficiently sort and distribute materials in complex road conditions. In addition, the material taking and placing robot can also be other robots as long as it can move and grab the target material. Furthermore, the multi-legged robot can be a four-legged robot or a six-legged robot or other robots with a certain number of legs, as long as it can move quickly and smoothly on rough roads or paths with steps and distribute materials in complex road conditions.

[0038] Further, the grabbing device is provided with a pressure sensor and a displacement sensor; the pressure sensor is used to detect the pressure information of the grabbing arm of the grabbing device, and the displacement sensor is used to detect the displacement information of the grabbing arm of the grabbing device, so as to determine whether the grabbing device successfully grabs the target material through the pressure information and / or the displacement information when the grabbing device grabs the target material.

[0039] The material sorting and distribution system further comprises a controller, the controller comprising a processor and a memory, the memory being adapted to store a plurality of program codes, the program codes being adapted to be loaded and executed by the processor to perform the detection method of the material sorting and distribution 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 gate 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 distribution system, such as a hard disk or a memory, etc. The memory can also be an external storage device of the material sorting and distribution system, for example, a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, etc. provided on the material sorting and distribution system. The memory can also include both the internal storage unit and the external storage unit of the material sorting and distribution system. The material sorting and distribution system can comprise a plurality of memories and a plurality of processors, each processor performing a different step, and the plurality of processors can be processors deployed on the same device or processors deployed on different devices, for example, the plurality of processors can be processors on the material sorting and distribution system and processors on a cloud server, or can be processors on the material sorting and distribution system, processors on a material taking and placing robot, and processors on a multi-legged robot. The controller can directly control the material taking and placing robot and the multi-legged robot, and the material taking and placing robot and the multi-legged robot can also be provided with a separate material taking and placing robot controller and a multi-legged robot controller, and the controller of the material sorting and distribution system is communicatively connected with the material taking and placing robot controller and the multi-legged robot controller to control the material taking and placing robot and the multi-legged robot.

[0040] Referring first to Figure 1 , the figure shows the main steps of the control method of the material sorting and distribution system of the present application, as Figure 1 indicated, the control method in this embodiment mainly comprises the following steps S101 to S104:

[0041] Step S101: controlling the material taking and placing robot to grasp the target material.

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

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

[0044] Step S104: controlling the multi-legged robot to move to the distribution position.

[0045] The distribution position can be a preset fixed position corresponding to the target material, or a position where an operator is located; the distribution position can be a global coordinate value.

[0046] Through the control method of steps S101 to S104, the material taking 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 carries the target material to the distribution position to realize sorting and distribution of the material. Since the multi-legged robot can quickly and smoothly move and distribute the material on rugged road or path with steps, and the material taking and placing robot can grab the subsequent material to be sorted and distributed while the multi-legged robot is distributing the material, and directly moves to the multi-legged robot after completing the grabbing, without waiting for the multi-legged robot to return, the time for the multi-legged robot to distribute the material is fully utilized, and the sorting and distribution can be efficiently performed even when the distance between the material storage position and the vehicle position is far. Therefore, through the cooperation of the material taking and placing robot and the multi-legged robot, the material sorting and distribution system can efficiently and smoothly sort and distribute the material even when the material storage positions are dispersed, the distance between the material storage position and the vehicle position is far, and the road condition between the material storage position and the vehicle position is complex.

[0047] It should be noted that before the material taking and placing robot and the multi-legged robot move, the SLAM technology can be used to generate an environment map and determine the position of itself as a starting point, and then obtain the global coordinates of the end point. After planning the moving path according to the starting point and the end point, the material taking and placing robot and the multi-legged robot are controlled to move along the moving path. During the movement of the material taking and placing robot and the multi-legged robot, the visual sensor and / or the radar sensor can be used to detect obstacles on the moving path in real time. When an obstacle is detected, the robot is controlled to avoid the obstacle to ensure the normal movement of the robot.

[0048] Possibly, after step S103, if there is no sorting task to be performed, the material taking and placing robot is controlled to return to the preset first initial position; if there is still a sorting task to be performed, the material taking and placing robot is directly moved to the material taking position of the next material to be grabbed. After step S104, after the target material is unloaded by the multi-legged robot or after receiving the instruction of taking away the material, 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] Reference will now be made to Figure 2 The figure shows an embodiment of the control method of the material sorting and distribution system of the present application, which specifically includes the following steps:

[0050] Step S201: Obtain target rack information of a target rack in which a target material is stored.

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

[0052] Since the materials are usually stored on the racks, the material sorting and distribution system is provided with the numbers of different racks and the correspondence between different materials and the numbers of the racks, the rack information can include the rack number and the picking position corresponding to the rack, so based on the target material, the corresponding picking position can be determined; the picking position can be a global coordinate value, and the picking position is usually arranged on one side of the rack to facilitate the material picking robot to grasp the material.

[0053] Step S203: control the material picking robot to move to the picking position.

[0054] Step S204: obtain the preset feature information of the target material.

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

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

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

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

[0059] The method of identifying the target material can be: analyzing and processing the image information to obtain the feature information of the material in the image, the feature information being the same type as the preset feature information, the length and area information of the material can be determined through the contour information of the material in the image, and each item of feature information of the material in the image obtained 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, step S208 is executed; if the determination result is no, step S209 is executed.

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

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

[0063] Step S209: judging whether the number of times of not recognizing the target material is greater than or equal to a first set number. If the result of the judgment is yes, step S211 is executed; if the result of the judgment is no, step S206 is executed.

[0064] In the case of not recognizing the target material, the material taking and placing robot is repeatedly identified for multiple times to ensure that the target material can be accurately identified as much as possible.

[0065] Step S210: controlling the material taking and placing robot to grab the target material based on the material position.

[0066] Step S211: issuing a first reminder information.

[0067] If the target material is not recognized for multiple times, the first reminder information is issued to remind the operator that the material taking and placing robot has not recognized the target material for multiple times, so as to assist the operator in identifying and / or finding the reason; the form of the reminder information can include but is not limited to voice type information, text type information, light type information, etc.; the subject of issuing the reminder information can include but is not limited to the material sorting and distribution system and the terminal device, etc.; the specific reminding method can be a combination of any of the above reminding forms and reminding subjects, as long as it can remind the operator, and the person skilled in the art can select according to the specific needs in actual application, which is not limited here. The voice type information can issue the reminder information to the operator through voice broadcast, or remind the operator through a beep prompt sound; the text type information can issue the reminder information to the operator through a pop-up floating window or a scrolling play; the light type information can be a long-time or intermittent light. The above reminder methods are only exemplary, and can be selected according to actual needs in actual application. At the same time of issuing the first reminder information, the control method can further include: recording abnormal information.

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

[0069] Reference will be made to Figure 3 , which shows another embodiment of the control method of the material sorting and distribution system of the present application, specifically including the following steps:

[0070] Step S301: obtaining pressure information;

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

[0072] Step S302: judging whether the grabbing is successful based on the pressure information. If the result of the judgment is yes, step S303 is executed; if the result of the judgment is no, step S304 is executed.

[0073] After the grabbing device successfully grabs the target material, the pressure on the grabbing arm will increase. When the pressure falls within the set pressure range, it is determined that the grabbing is successful. When the pressure falls outside the set pressure range, it is determined that the grabbing fails. 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 1 kg, the set pressure range can be 0.95-1.05 kg. When the obtained pressure value is within the range of 0.95-1.05 kg, it is determined that the grabbing is successful. When the obtained pressure value is outside the range of 0.95-1.05 kg, it is determined that the grabbing fails. Those skilled in the art can understand that although the above describes that whether the grabbing is successful is judged based on the pressure information, this is not a limitation. Whether the grabbing is successful can also be judged based on the displacement information measured by the displacement sensor. After the grabbing device successfully grabs the target material, the displacement of the grabbing arm will change according to the size of the target material. Therefore, whether the grabbing device has grabbed the target material can be determined according to the displacement of the grabbing arm. For example, if the set size range is 155 mm-165 mm, the initial distance between the two grabbing arms is 200 mm, and the relative displacement between the two grabbing arms after grabbing is 40 mm, it can be known that the corresponding size of the grabbed material is 160 mm. Since 160 mm falls within the set size range of 155 mm-165 mm, it is determined that the grabbing is successful. Conversely, if the set size range is 165 mm-175 mm, 160 mm does not fall within the set size range of 165 mm-175 mm, and it is determined that the grabbing fails. The set size range is a preset size range according to the size of the target material.

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

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

[0076] Step S304: judging whether the number of times of unsuccessful grabbing is greater than or equal to a second set number of times. If the result of the judgment is yes, step S305 is executed; if the result of the judgment is no, step S210 is executed.

[0077] In the case of unsuccessful grabbing, the material taking and placing robot is controlled to grab repeatedly for as many times as possible to ensure that the target material can be successfully grabbed.

[0078] Step S305: issuing a second reminder information.

[0079] If the multiple grabbing operations all fail, a second reminder information is sent to remind the operator that the material taking and placing robot has failed to grab the target material for multiple times, so as to assist the operator in grabbing and / or finding the reason. At the same time of sending the second reminder information, the control method can further include: recording abnormal information.

[0080] Through the control method of steps S301 to S305, the material taking and placing robot can ensure to grab the target material, avoid the situation of grabbing wrong or empty, and improve the working efficiency and reliability of the material sorting and distribution system.

[0081] Hereinafter, with reference to Figure 4 , the figure shows another embodiment of the control method of the material sorting and distribution system of the present application, which specifically includes the following steps:

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

[0083] After the material taking and placing robot grabs the target material, specifically, step S401 can be executed after step S302, or step S401 can be executed after step S101 when the result is yes.

[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 according to the global coordinates of the multi-legged robot and the relative coordinates of the delivery position, and the movement path of the material taking and placing robot can be planned according to the global coordinates of the delivery position.

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

[0087] Through the control method of steps S401 to S403, the material taking and placing robot can conveniently move the target material to the multi-legged robot and place it on the material storage device of the multi-legged robot.

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

[0089] The technical scheme of the present application has been described in combination with the preferred embodiments shown in the drawings, but it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the present application, and the technical schemes after the changes or replacements will all fall within the protection scope of the present application.

Claims

1. A control method for a material sorting and distribution system, characterized in that, The material sorting and distribution system includes: A material handling robot, wherein the material handling robot is configured to be mobile, and the material handling robot is equipped with a gripping device, wherein the gripping device is configured to grip the target material; A multi-legged robot, the multi-legged robot being configured to move, and the multi-legged robot being equipped with a material storage device; The control method for the material sorting and distribution system includes: Control the material handling robot to grab the target material; Control the material handling robot to move to the multi-legged robot; The material handling robot is controlled to place the target material onto the material storage device; Control the multi-legged robot to move to the delivery location; Before the step of "controlling the material handling robot to grasp the target material", the control method further includes: Obtain the preset material picking location of the target material; Control the material handling robot to move to the material handling position; The step of "obtaining the picking location of the target material" further includes: Obtain the target rack information of the target rack containing the target material; Determine the material picking position corresponding to the target material rack information; The material handling robot is equipped with a vision sensor, which is used to acquire image information. Before the step of "controlling the material handling robot to grasp the target material", the control method further includes: Obtain preset characteristic information of the target material; Control the vision sensor to acquire image information of the material on the target rack; The target material is identified based on the preset feature information and the image information; Determine whether the target material has been identified; If the target material is identified, the material location of the target material is obtained based on the image information; The step of "controlling the material handling robot to grasp the target material" further includes: Based on the material's location, the material handling robot is controlled to grab the target material; Following the step of "identifying the target material", the control method further includes: If the target material is not identified, it is determined whether the number of times the target material has not been identified is greater than or equal to a first set number; If the number of times the target material is not identified is less than the first set number, then proceed to "identify the target material based on the preset feature information and the image information".

2. The control method for the material sorting and distribution system according to claim 1, 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 preset number", the control method further includes: If the number of times the target material is not identified is greater than or equal to the first set number, a first reminder message will be issued.

3. The control method for the material sorting and distribution system according to claim 1, characterized in that, Before the step of "controlling the material handling robot to move to the multi-legged robot", the control method further includes: Obtain the position of the multi-legged robot; The delivery location is determined based on the position of the multi-legged robot; The step of "controlling the material handling robot to move to the multi-legged robot" further includes: Control the material handling robot to move to the delivery location.

4. The control method for the material sorting and distribution system according to claim 1, characterized in that, The gripping device is equipped with a pressure sensor, which is used to detect the pressure information of the gripping arm of the gripping device; Following the step of "controlling the material handling robot to grasp the target material", the control method further includes: Obtain the pressure information; Based on the pressure information, determine whether the capture was successful; The step of "controlling the material handling robot to move to the multi-legged robot" further includes: If the grabbing is successful, the material handling robot is controlled to move to the multi-legged robot.

5. The control method for the material sorting and distribution system according to claim 1, characterized in that, The gripping device is equipped with a displacement sensor, which is used to detect the displacement information of the gripping arm of the gripping device; Following the step of "controlling the material handling robot to grasp the target material", the control method further includes: Obtain the displacement information; Based on the displacement information, determine whether the capture was successful; The step of "controlling the material handling robot to move to the multi-legged robot" further includes: If the grabbing is successful, the material handling robot is controlled to move to the multi-legged robot.

6. The control method for the material sorting and distribution system according to claim 1, characterized in that, The gripping device is equipped with a pressure sensor and a displacement sensor. 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. Following the step of "controlling the material handling robot to grasp the target material", the control method further includes: Obtain the pressure information and the displacement information; Based on the pressure information and the displacement information, determine whether the grasping was successful; The step of "controlling the material handling robot to move to the multi-legged robot" further includes: If the grabbing is successful, the material handling robot is controlled to move to the multi-legged robot.

7. The control method for the material sorting and distribution system according to any one of claims 4 to 6, characterized in that, After the step of "determining whether the capture was successful", the control method further includes: If the grabbing fails, proceed to step "Control the material handling robot to grab the target material".

8. A material sorting and distribution system, characterized in that, The material sorting and distribution system includes: A material handling robot, wherein the material handling robot is configured to be mobile, and the material handling robot is equipped with a gripping device, wherein the gripping device is configured to grip the target material; A multi-legged robot, the multi-legged robot being configured to move, and the multi-legged robot being equipped with a material storage device; processor; A memory adapted to store multiple lines of program code, the program code being loaded and run by the processor to perform the control method of the material sorting and distribution system according to any one of claims 1 to 7.

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