Object taking and distribution method, robot, object taking and distribution system and storage medium

Abstract

The invention discloses an object taking and distributing method, a robot, an object taking and distributing system and a storage medium, and relates to the technical field of intelligent robotics.The method comprises the steps that after an object taking instruction is received, the position of a container, the storage position of an object to be taken and the receiving position of the object to be taken are determined, and then after the robot is controlled to move to the position of the container, the object to be taken is taken. And the control module is used for controlling the grabbing module to move to the storage position of the to-be-fetched article and grabbing the to-be-fetched article, finally controlling the grabbing module to store the to-be-fetched article to the storage structure, and controlling the robot to move to the receiving position. According to the method, accurate object taking of the intelligent container is achieved through the robot, object distribution is completed, and the distribution efficiency of the robot is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent robot technology, and in particular to a method for picking up and delivering objects, a robot, a system for picking up and delivering objects, and a storage medium. Background Art

[0002] With the advancement of science and technology, the application of robot technology in the field of logistics and distribution is becoming more and more widespread. At present, the delivery robots on the market are operated by workers who place the items to be delivered on the robots, and then the robots deliver the items from the starting point to the destination. In the actual delivery process, the workers complete the robot's picking up process. When the delivery volume is large, it will consume a lot of manpower and time, which leads to the low delivery efficiency of the robots in related solutions.

[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The present application provides a method for picking up and delivering objects, a robot, a system for picking up and delivering objects, and a storage medium, aiming to solve the problem of low delivery efficiency of robots in related solutions.

[0005] To achieve the above-mentioned purpose, the present application provides a method for picking up and delivering objects, which is applied to a robot. The robot includes a storage structure and a grasping module. The method for picking up and delivering objects includes the following steps:

[0006] After receiving the pickup instruction, determine the container location, the storage location of the items to be picked up, and the receiving location;

[0007] After controlling the robot to move to the container position, controlling the grabbing module to move to the storage position of the to-be-picked item and grabbing the to-be-picked item;

[0008] The grabbing module is controlled to store the items to be picked up in the storage structure, and the robot is controlled to move to the receiving position.

[0009] In one embodiment, the grabbing module is provided with a recognition unit;

[0010] The step of controlling the grabbing module to move to the storage location of the object to be picked up and grabbing the object to be picked up comprises:

[0011] Controlling the recognition unit to move close to the storage location of the object to be picked up through the grabbing module;

[0012] Scanning and verifying the identification located at the storage location of the to-be-collected item according to the identification unit;

[0013] After the verification is passed, the grabbing module is controlled to move to the storage position, and the grabbing module is controlled to grab the object to be picked up.

[0014] In one embodiment, the grabbing module is further provided with a motor control module, the motor control module includes a motor motion component, and the step of controlling the grabbing module to grab the item at the storage location of the item to be picked up includes:

[0015] It is detected that the grabbing module has moved to the storage position of the object to be picked up, and a picking instruction is sent to the motor control module, so that after the motor control module receives the picking instruction, it controls the motor motion component to grab the object at the storage position.

[0016] In one embodiment, the step of detecting that the grabbing module has moved to the storage location of the object to be picked up and sending a picking instruction to the motor control module comprises:

[0017] Detecting that the grabbing module has moved to the storage position of the to-be-picked object, and controlling the identification unit to identify whether an object is stored in the storage position of the to-be-picked object;

[0018] If an item is stored in the storage location for the item to be picked up, sending a pick-up instruction to the motor control module;

[0019] The method further comprises:

[0020] If there is no item stored in the storage location for the item to be picked up, a prompt message indicating that the task is wrong is fed back to the management terminal.

[0021] In one embodiment, after the step of controlling the robot to move to the container position, the method further includes:

[0022] Generate a container opening control instruction according to the storage location of the items to be picked up, and send the container opening control instruction to the smart container, so that the smart container opens the cabinet door corresponding to the storage location of the items to be picked up when receiving the container opening control instruction;

[0023] It is detected that the grabbing module has stored the grabbed items into the storage structure, a container closing control instruction is generated according to the storage position of the items to be picked up, and the container closing control instruction is sent to the smart container, so that when the smart container receives the container closing control instruction, the cabinet door corresponding to the storage position of the items to be picked up is closed.

[0024] In one embodiment, after the step of controlling the grabbing module to move to the storage location of the object to be picked up and grabbing the object to be picked up, the method further includes:

[0025] After detecting that the grabbing module has grabbed the object to be picked up, controlling the grabbing module to move to the storage structure;

[0026] Controlling the grabbing module to place the grabbed items to be picked up in the storage structure;

[0027] Feedback an instruction indicating that the items have been placed to the control module, so that the control module controls the robot to move to the receiving position.

[0028] In one embodiment, the method further comprises:

[0029] When it is detected that the robot has arrived at the receiving position, a first opening instruction is sent to the warehouse control system, so that the warehouse control system opens the cabinet door of the warehouse after receiving the first opening instruction;

[0030] Controlling the grabbing module to grab the items to be picked up from the storage structure, and moving to the storage to place the items to be picked up into the storage;

[0031] Controlling the recognition unit on the grabbing module to scan the placement of items in the warehouse;

[0032] After confirming that the placement posture of the to-be-picked item meets the preset posture, a first closing instruction is sent to the warehouse control system, so that the warehouse control system closes the cabinet door of the warehouse after receiving the first closing instruction.

[0033] In addition, to achieve the above-mentioned purpose, the present application also provides a robot, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the pickup and delivery method as described above.

[0034] In addition, to achieve the above-mentioned purpose, the present application also provides a pick-up and delivery system, wherein the robot pick-up and delivery system includes the robot and the smart container as described above, and the robot is communicatively connected to the smart container.

[0035] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, which is a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of the pickup and delivery method as described above are implemented.

[0036] The present application provides a method for picking up and delivering objects, a robot, a system for picking up and delivering objects, and a storage medium. After receiving a pick-up instruction, the present application determines the container position, the storage position of the objects to be picked up, and the receiving position, and then after controlling the robot to move to the container position, controls the grabbing module to move to the storage position of the objects to be picked up and grabs the objects to be picked up, and finally controls the grabbing module to store the objects to be picked up in the storage structure, and controls the robot to move to the receiving position. The above method uses a robot to achieve accurate picking up of intelligent containers and completes the delivery of objects, so as to improve the delivery efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0039] Figure 1 This is a schematic diagram of the process of the first embodiment of the pickup and delivery method of the present application;

[0040] Figure 2 This is a schematic diagram of the structure of the smart container involved in the embodiment of the present application;

[0041] Figure 3 This is a flow chart of a second embodiment of the pickup and delivery method of the present application;

[0042] Figure 4 This is a schematic diagram of the structure of the grabbing module involved in the embodiment of the present application;

[0043] Figure 5 This is a flow chart of a third embodiment of the pickup and delivery method of the present application;

[0044] Figure 6 This is a schematic diagram of the architecture of the hardware operating environment of the robot involved in the embodiment of the present application.

[0045] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0046] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] In order to better understand the above technical solution, exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0048] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0049] The main solution of the present application is: after receiving the picking instruction, determine the container position, the storage position of the items to be picked up and the receiving position; after controlling the robot to move to the container position, control the grabbing module to move to the storage position of the items to be picked up and grab the items to be picked up; control the grabbing module to store the items to be picked up in the storage structure, and control the robot to move to the receiving position.

[0050] With the advancement of science and technology, the application of robot technology in the field of logistics and distribution is becoming more and more widespread. At present, the delivery robots on the market are operated by workers who place the items to be delivered on the robots, and then the robots deliver the items from the starting point to the destination. In the actual delivery process, the workers complete the robot's picking up process. When the delivery volume is large, it will consume a lot of manpower and time, which leads to the low delivery efficiency of the robots in related solutions.

[0051] After receiving the fetching instruction, the present application determines the container position, the storage position of the items to be fetched and the receiving position, and then after controlling the robot to move to the container position, controls the grabbing module to move to the storage position of the items to be fetched and grabs the items to be fetched, and finally controls the grabbing module to store the items to be fetched in the storage structure, and controls the robot to move to the receiving position. The above method realizes the precise fetching of the intelligent container by the robot, and completes the item delivery, so as to improve the delivery efficiency of the robot.

[0052] Embodiment 1

[0053] Based on this, the present application embodiment provides a method for picking up and delivering goods, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the pickup and delivery method of the present application. The pickup and delivery method includes steps S10 to S30:

[0054] Step S10: After receiving the pickup instruction, determine the container location, the storage location of the items to be picked up, and the receiving location.

[0055] In this embodiment, the robot includes a storage structure and a grasping module. The processing action is performed by the robot, specifically, the control module provided in the robot performs the processing action. The control module is connected to the storage structure and the grasping module, and the robot includes the storage structure and the grasping module. The picking instruction is sent by the background management end, and the background management end sends the picking instruction to the robot based on a preset network protocol. After the robot receives the picking instruction, it passes the picking instruction to the control module of the robot. After the control module receives the picking instruction, it parses the picking instruction and extracts information about the container location, the storage location of the items to be picked up, and the receiving location from the parsed picking instruction. It should be noted that the grasping module can be a manipulator, or any grasping structure with a grasping function, which is not limited here.

[0056] Step S20: After controlling the robot to move to the container position, controlling the grabbing module to move to the storage position of the to-be-picked object and grabbing the to-be-picked object.

[0057] In this embodiment, after the control module parses and obtains information about the container position, the storage location of the items to be picked up, and the receiving location. Based on the container position, the robot is controlled to move to the container position. It should be noted that it is necessary to detect the current position of the robot in real time through the background management system or the positioning module set on the robot. When the current position matches the container position, it is determined that the robot has reached the container position. After the robot moves to the container position, the control module controls the grabbing module based on the preset instructions, and moves to the storage location of the items to be picked up, and finally grabs the items to be picked up.

[0058] It should be noted that the preset instructions may be pre-stored in the control module of the robot. When the positioning module detects that the current position of the robot matches the position of the container, the execution operation of the preset instructions is triggered, so that the control module controls the grasping module to move to the storage position of the object to be picked up and grasps the object to be picked up based on the preset instructions. Alternatively, when the background management system detects that the current position of the robot matches the position of the container, the sending operation of the preset instructions is triggered. The preset instructions are sent to the robot, so that the control module of the robot controls the grasping module to move to the storage position of the object to be picked up and grasps the object to be picked up based on the preset instructions.

[0059] In addition, after the robot reaches the container position, the specific position of the smart container is identified through the radar module, thereby determining the specific direction in which the grabbing module is to move.

[0060] Furthermore, in this embodiment, after the step of controlling the robot to move to the container position, the method further includes:

[0061] A container opening control instruction is generated according to the storage position of the items to be picked up, and the container opening control instruction is sent to the smart container, so that when the smart container receives the container opening control instruction, the cabinet door corresponding to the storage position of the items to be picked up is opened; when it is detected that the grabbing module has stored the grabbed items into the storage structure, a container closing control instruction is generated according to the storage position of the items to be picked up, and the container closing control instruction is sent to the smart container, so that when the smart container receives the container closing control instruction, the cabinet door corresponding to the storage position of the items to be picked up is closed.

[0062] Specifically, Figure 2 As shown, Figure 2 This is a schematic diagram of the structure of the smart container involved in the embodiment of the present application. The smart container includes a motor motion component. The smart container includes an open drawer mode and a closed drawer mode. The motor motion component can control the opening and / or closing of the drawer. The storage position of the items to be picked up includes a container identification of the items to be picked up. After the robot moves to the container position, the control module obtains the pre-stored storage position of the items to be picked up, and generates a container opening control instruction according to the storage position of the items to be picked up. The container opening control instruction is used to open the cabinet door corresponding to the storage position of the items to be picked up. Then the container opening control instruction is sent to the smart container. When the smart container receives the container opening control instruction, it parses the container opening control instruction to obtain the storage position of the items to be picked up, and then opens the cabinet door corresponding to the storage position of the items to be picked up.

[0063] After the cabinet door corresponding to the storage position of the items to be picked up is opened, the smart container feeds back a target instruction to the robot, and the robot transmits the target instruction to the control module. The control module controls the grasping module to grasp the items at the storage position of the items to be picked up based on the target instruction, and places them in the storage structure. When the control module detects that the grasping module has stored the grasped items in the storage structure, it generates a cabinet closing control instruction according to the storage position of the items to be picked up, and sends the cabinet closing control instruction to the smart container, so that when the smart container receives the cabinet closing control instruction, it closes the cabinet door corresponding to the storage position of the items to be picked up.

[0064] Furthermore, in this embodiment, after the step of controlling the grabbing module to move to the storage position of the object to be picked up and grabbing the object to be picked up, the method further includes:

[0065] After detecting that the grabbing module has grabbed the item to be picked up, the grabbing module is controlled to move to the storage structure; the grabbing module is controlled to place the grabbed item to be picked up in the storage structure; and an instruction indicating that the item has been placed is fed back to the control module, so that the control module controls the robot to move to the receiving position.

[0066] Specifically, through the identification unit provided in the robot, it is identified and detected whether the grabbing module has grabbed the item to be picked up. After identifying that the grabbing module has grabbed the item to be picked up, an instruction of grabbing completion is fed back to the control module, so that the grabbing module is controlled to move to the storage structure through the control module. After grabbing the item to be picked up, the grabbing module is controlled to place the grabbed item to be picked up in the storage structure. The storage structure is provided with a sensing module, and after sensing that the item to be picked up has been placed in the storage structure, an instruction of item placement completion is fed back to the control module, so that the control module controls the robot to move to the receiving position.

[0067] Step S30: Control the grabbing module to store the items to be picked up in the storage structure, and control the robot to move to the receiving position.

[0068] In this embodiment, whether the grabbing module has successfully grabbed the item to be picked up can be detected by, specifically, an identification unit set on the grabbing module can be used to detect whether the grabbing module has grabbed the item to be picked up, or an image sensor on the robot can capture an image of the grabbing module and feed it back to the backend management end, which determines whether the grabbing is completed. After detecting that the grabbing module has successfully grabbed the item to be picked up, the grabbing module is controlled to move to the position of the storage structure with the item to be picked up, and the item to be picked up is stored in the storage structure. Finally, the robot is controlled to move to the receiving position according to a preset moving path.

[0069] As an optional implementation, the way to judge whether the grasping module has successfully grasped the object to be grasped can be that the recognition unit collects the current image of the grasping module, and then compares the current image with the pre-stored initial image to see whether the current image matches the initial image. When the two do not match, it is judged that the grasping module has successfully grasped the object to be grasped. In this way, the accuracy of judging whether the grasping module has grasped the object can be improved.

[0070] For example, suppose the robot receives a fetch instruction, which requires the robot to go to position 8 of the smart cabinet to fetch items and deliver them to room 888. The robot goes to the smart cabinet according to the position of the smart cabinet in the fetch instruction. Then when the robot arrives at the cabinet position, it uses radar to identify the specific position of the smart cabinet, which is a triangular cabinet to facilitate radar identification. After the radar identifies the position of the smart cabinet, the robot repositions the initial position of drawer No. 8. The robot goes to the position of drawer No. 8 of the smart cabinet and actually identifies drawer number 8 through the robot camera. After visual confirmation, the confirmation information is fed back to the robot control module, and the robot receives the instruction. The robot sends instructions to the smart cabinet, and the smart cabinet control system receives the instructions and sends instructions to the drawer control module. The smart cabinet drawer control module starts the drawer No. 8 control system to control the drawer No. 8 of the smart cabinet to open. Finally, the robot control module controls the manipulator to grab the items to be picked up in drawer No. 8, and after grabbing, it feeds back the command of grabbing completion to the smart cabinet so that the smart cabinet closes drawer No. 8.

[0071] In the technical solution provided in this embodiment, after receiving the fetching instruction, the container position, the storage position of the items to be fetched and the receiving position are determined, and then after controlling the robot to move to the container position, the grabbing module is controlled to move to the storage position of the items to be fetched and grab the items to be fetched, and finally the grabbing module is controlled to store the items to be fetched in the storage structure, and the robot is controlled to move to the receiving position. This embodiment realizes accurate fetching of smart containers through robots and completes item delivery, so as to improve the delivery efficiency of robots.

[0072] Embodiment 2

[0073] Based on the first embodiment, refer to Figure 3 , Figure 3 This is a flow chart of the second embodiment of the object picking and delivery method of the present application. The grabbing module is provided with an identification unit. The step of controlling the grabbing module to move to the storage location of the object to be picked up and grabbing the object to be picked up includes steps S40 to S60:

[0074] Step S40: Controlling the recognition unit to move closer to the storage location of the object to be picked up through the grabbing module.

[0075] Step S50: Scan and verify the identification at the storage location of the to-be-collected item according to the identification unit.

[0076] In this embodiment, the grabbing module is provided with a recognition unit, and the recognition unit includes an image acquisition module and a processing module. By moving the grabbing module, the recognition unit can be controlled to move to the storage location of the item to be picked up. Then, the image acquisition module on the recognition unit captures the image of the mark corresponding to the storage location of the item to be picked up, and the processing module obtains the pre-stored target mark associated with the storage location of the item to be picked up, and the target mark is compared with the mark, so as to complete the step of scanning and verifying the mark located at the storage location of the item to be picked up.

[0077] Step S60: After the verification is passed, the grabbing module is controlled to move to the storage position, and the grabbing module is controlled to grab the object to be picked up.

[0078] In this embodiment, based on the above steps, when the target identifier matches the identifier, it means that the verification is passed. At this time, the recognition unit feeds back a prompt message indicating that the verification is passed to the control module, and the control module triggers the object-picking instruction after receiving the prompt message. Then, the grabbing module is controlled to move to the storage position, and the grabbing module is controlled to grab the object to be picked up.

[0079] Optionally, in this embodiment, the grabbing module is further provided with a motor control module, the motor control module includes a motor motion component, and the step of controlling the grabbing module to grab the item at the storage location of the item to be picked up includes:

[0080] It is detected that the grabbing module has moved to the storage position of the object to be picked up, and a picking instruction is sent to the motor control module, so that after the motor control module receives the picking instruction, it controls the motor motion component to grab the object at the storage position.

[0081] Specifically, Figure 4 As shown, Figure 4 The present invention is a schematic diagram of the structure of the grabbing module involved in the embodiment of the present application. The grabbing module is also provided with a motor control module, and the motor control module includes a motor motion component. The position of the grabbing module is detected by the positioning module, and when the position matches the storage position of the object to be picked up, it is determined that the grabbing module has moved to the storage position of the object to be picked up. Then, a pick-up instruction is sent to the grabbing module, and the grabbing module sends the pick-up instruction to the motor control module, so that after the motor control module receives the pick-up instruction, it controls the motor motion component to perform a preset action, thereby grabbing the object at the storage position.

[0082] Furthermore, the step of detecting that the grabbing module has moved to the storage position of the object to be picked up and sending a picking instruction to the motor control module includes:

[0083] It is detected that the grasping module has moved to the storage position of the item to be picked up, and the identification unit is controlled to identify whether the storage position of the item to be picked up has an item stored; if the storage position of the item to be picked up has an item stored, a picking instruction is sent to the motor control module; the method also includes: if the storage position of the item to be picked up has no item stored, a prompt message of a task error is fed back to the management terminal.

[0084] Specifically, after the grabbing module moves to the storage position of the items to be picked up, it is necessary to first send an identification instruction to the recognition unit, so as to determine whether there are items stored in the storage position of the items to be picked up through the recognition unit. Specifically, the image acquisition module in the recognition unit can collect the image corresponding to the storage position of the items to be picked up to determine whether there are items stored. If there are items stored, the step of sending a pickup instruction to the motor control module is executed, so that after the motor control module receives the pickup instruction, the motor motion component is controlled to grab the items in the storage position. Otherwise, a prompt message of a task error is fed back to the management terminal to prompt the management terminal to determine whether there is an error in the issued pickup instruction.

[0085] In the technical solution provided in this embodiment, the grasping module controls the identification unit to move close to the storage location of the item to be picked up, and then the identification unit scans and verifies the mark at the storage location of the item to be picked up, and finally, after the verification is passed, the grasping module is controlled to move to the storage location, and the grasping module is controlled to grasp the item to be picked up. This embodiment of the solution can realize that the robot automatically determines the location of the item to be picked up by the identification unit identifying and verifying the mark of the storage location of the item to be picked up, thereby avoiding the occurrence of the robot picking up the wrong item.

[0086] Embodiment 3

[0087] Based on any embodiment, refer to Figure 5 , Figure 5 This is a flow chart of the third embodiment of the pickup and delivery method of the present application, wherein the method further includes steps S70 to S100:

[0088] Step S70: When it is detected that the robot has arrived at the receiving position, a first opening instruction is sent to the warehouse control system, so that the warehouse control system opens the cabinet door of the warehouse after receiving the first opening instruction.

[0089] In this embodiment, the robot is connected to the warehouse control system, and the position of the robot is detected by the positioning module. When the position of the robot matches the harvesting position, it is determined that the robot has reached the harvesting position. A preset program in the robot control system of the robot automatically sends a first start instruction to the warehouse control system.

[0090] After the warehouse control system receives the first opening instruction, the warehouse motion component is controlled to open the cabinet door of the warehouse based on the first opening instruction.

[0091] Step S80: Control the grabbing module to grab the items to be picked up from the storage structure, and move to the warehouse to place the items to be picked up into the warehouse.

[0092] In this embodiment, after the warehouse control system opens the cabinet door of the warehouse, it feeds back an instruction that the cabinet door has been opened to the robot. Based on the instruction, the control module of the robot triggers the next step of executing the preset program, that is, controlling the grasping module to grasp the object to be taken from the storage structure, and moving to the warehouse to put the object to be taken into the warehouse.

[0093] Step S90: Control the recognition unit on the grabbing module to scan the placement of objects in the warehouse.

[0094] In this embodiment, when it is detected that the grabbing module has placed the object in the warehouse, the placement posture image of the object in the warehouse is collected by the recognition unit on the grabbing module.

[0095] Specifically, first ensure that the gripping module and the recognition unit have been correctly installed and connected to the control module of the robot control system. It is also necessary to configure the relevant parameters of the recognition unit in the control module, such as scanning speed, scanning range, recognition accuracy, etc., to ensure that it can accurately scan and identify the items in the warehouse. Determine the scanning area of ​​the recognition unit based on the warehouse layout and the placement of items. The scanning area needs to cover the items that need to be scanned.

[0096] Through the control system, the position and posture of the grabbing module are adjusted so that it can accurately reach the scanning area and ensure that the recognition unit can correctly scan the object. Then the control module sends a scanning instruction to the recognition unit to start the scanning process. The control recognition unit starts scanning the objects in the warehouse and captures the image of the object. The recognized image is fed back to the control module for image processing operations to identify information such as the placement of the object. Finally, the control module analyzes the placement of the object, such as position, direction, angle, etc., based on the recognition results. When all the objects that need to be scanned and grabbed have been processed, the control module will issue an end instruction.

[0097] Step S100: after confirming that the placement position of the to-be-picked item meets the preset position, sending a first closing instruction to the warehouse control system, so that the warehouse control system closes the cabinet door of the warehouse after receiving the first closing instruction.

[0098] In this embodiment, based on the above steps, after the recognition unit collects the placement posture of the object to be picked up, the pre-stored preset posture is obtained, wherein the preset posture can be saved in the database in the form of an image to facilitate comparison between the two. By comparing the image of the placement posture with the image of the preset posture, when the matching degree is greater than a preset threshold, it is determined that the placement posture of the object to be picked up meets the preset posture. Then, a first closing instruction is sent to the warehouse control system, so that the warehouse control system closes the cabinet door of the warehouse after receiving the first closing instruction.

[0099] In the technical solution provided by this embodiment, when it is detected that the robot has arrived at the receiving position, a first opening instruction is sent to the warehouse control system, so that after receiving the first opening instruction, the warehouse control system opens the cabinet door of the warehouse, and then controls the grasping module to grasp the items to be taken from the storage structure, and moves to the warehouse to put the items to be taken into the warehouse, and controls the recognition unit on the grasping module to scan the placement of the items in the warehouse, and finally after confirming that the placement of the items to be taken meets the preset posture, sends a first closing instruction to the warehouse control system, so that after receiving the first closing instruction, the warehouse control system closes the cabinet door of the warehouse. This embodiment avoids the situation where the cabinet door fails to close due to the items not being placed properly by identifying the placement posture of the items and closing the cabinet door after the placement posture meets the preset posture.

[0100] Since the system introduced in the embodiment of the present application is a system used to implement the method of the embodiment of the present application, based on the method introduced in the embodiment of the present application, the person skilled in the art can understand the specific structure and deformation of the system, so it is not repeated here. All systems used in the method of the embodiment of the present application belong to the scope of protection of this application.

[0101] The present application provides a robot, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the pickup and delivery method in the above-mentioned embodiment one.

[0102] Reference below Figure 6 , which shows a schematic diagram of the structure of a robot suitable for implementing the embodiments of the present application. Figure 6As shown, the robot may include a processing device 1001 (e.g., a core processor, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the robot are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the robot to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a robot with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0103] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0104] The robot provided by the present application adopts the method for picking up and delivering objects in the above embodiment, which can solve the technical problem of low delivery efficiency of robots in related solutions. Compared with the prior art, the beneficial effects of the method for picking up and delivering objects provided by the present application are the same as those of the method for picking up and delivering objects provided by the above embodiment, and the other technical features of the method for picking up and delivering objects are the same as those disclosed in the method of the previous embodiment, which will not be described in detail here.

[0105] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0106] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0107] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the pickup and delivery method in the above-mentioned embodiment.

[0108] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0109] The computer-readable storage medium may be included in the robot; or may exist independently without being assembled into the robot.

[0110] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the robot, the robot: determines the container position, the storage position of the items to be picked up and the receiving position after receiving the picking instruction; after controlling the robot to move to the container position, controls the grasping module to move to the storage position of the items to be picked up and grasps the items to be picked up; controls the grasping module to store the items to be picked up in the storage structure, and controls the robot to move to the receiving position.

[0111] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0112] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0113] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0114] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned pickup and delivery method, and can solve the technical problem of low delivery efficiency of robots in related solutions. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the pickup and delivery method provided by the above-mentioned embodiment, and will not be repeated here.

[0115] An embodiment of the present application provides a computer program product, including a computer program, which implements the steps of the above-mentioned pickup and delivery method when executed by a processor.

[0116] The computer program product provided by this application can solve the technical problem of low delivery efficiency of robots in related solutions. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of this application are the same as the beneficial effects of the pickup and delivery method provided by the above embodiment, which will not be repeated here.

[0117] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. A method for picking up and delivering goods, characterized in that: Applied to a robot, the robot comprises a storage structure and a grabbing module, and the object picking and delivery method comprises the following steps: After receiving the pickup instruction, determine the container location, the storage location of the items to be picked up, and the receiving location; After controlling the robot to move to the container position, controlling the grabbing module to move to the storage position of the to-be-picked item and grabbing the to-be-picked item; The grabbing module is controlled to store the items to be picked up in the storage structure, and the robot is controlled to move to the receiving position.

2. The method according to claim 1, characterized in that The grabbing module is provided with a recognition unit; The step of controlling the grabbing module to move to the storage location of the object to be picked up and grabbing the object to be picked up comprises: Controlling the recognition unit to move close to the storage location of the object to be picked up through the grabbing module; Scanning and verifying the identification located at the storage location of the to-be-collected item according to the identification unit; After the verification is passed, the grabbing module is controlled to move to the storage position, and the grabbing module is controlled to grab the object to be picked up.

3. The method according to claim 2, characterized in that The grabbing module is further provided with a motor control module, and the motor control module includes a motor motion component. The step of controlling the grabbing module to grab the item at the storage location of the item to be picked up includes: It is detected that the grabbing module has moved to the storage position of the object to be picked up, and a picking instruction is sent to the motor control module, so that after the motor control module receives the picking instruction, it controls the motor motion component to grab the object at the storage position.

4. The method according to claim 3, characterized in that The step of detecting that the grabbing module has moved to the storage position of the object to be picked up and sending a picking instruction to the motor control module comprises: Detecting that the grabbing module has moved to the storage position of the to-be-picked object, and controlling the identification unit to identify whether an object is stored in the storage position of the to-be-picked object; If an item is stored in the storage location for the item to be picked up, sending a pick-up instruction to the motor control module; The method further comprises: If there is no item stored in the storage location for the item to be picked up, a prompt message indicating that the task is wrong is fed back to the management terminal.

5. The method according to claim 1, characterized in that After the step of controlling the robot to move to the container position, the method further includes: Generate a container opening control instruction according to the storage location of the items to be picked up, and send the container opening control instruction to the smart container, so that the smart container opens the cabinet door corresponding to the storage location of the items to be picked up when receiving the container opening control instruction; It is detected that the grabbing module has stored the grabbed items into the storage structure, a container closing control instruction is generated according to the storage position of the items to be picked up, and the container closing control instruction is sent to the smart container, so that when the smart container receives the container closing control instruction, the cabinet door corresponding to the storage position of the items to be picked up is closed.

6. The method according to claim 1, characterized in that After the step of controlling the grabbing module to move to the storage position of the object to be picked up and grabbing the object to be picked up, the method further includes: After detecting that the grabbing module has grabbed the object to be picked up, controlling the grabbing module to move to the storage structure; Controlling the grabbing module to place the grabbed items to be picked up in the storage structure; Feedback an instruction indicating that the items have been placed to the control module, so that the control module controls the robot to move to the receiving position.

7. The method according to claim 1, characterized in that The method further comprises: When it is detected that the robot has arrived at the receiving position, a first opening instruction is sent to the warehouse control system, so that the warehouse control system opens the cabinet door of the warehouse after receiving the first opening instruction; Controlling the grabbing module to grab the items to be picked up from the storage structure, and moving to the storage to place the items to be picked up into the storage; Controlling the recognition unit on the grabbing module to scan the placement of items in the warehouse; After confirming that the placement posture of the to-be-picked item meets the preset posture, a first closing instruction is sent to the warehouse control system, so that the warehouse control system closes the cabinet door of the warehouse after receiving the first closing instruction.

8. A robot, characterized in that: The robot comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the pickup and delivery method according to any one of claims 1 to 7.

9. A pickup and delivery system, characterized in that: The robot picking and delivery system comprises the robot and the smart container as described in claims 1 to 8, and the robot is communicatively connected with the smart container.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of the pickup and delivery method according to any one of claims 1 to 7 are implemented.

Images