Grabbing robot and warehousing system

Abstract

The invention discloses a grabbing robot and a warehousing system. The grabbing robot comprises a grabbing mechanism, a measuring module and a controller. The grabbing mechanism comprises a first mechanical arm and a second mechanical arm; the two ends of the first mechanical arm are connected with the first ends of the second mechanical arms correspondingly. The controller is used for controlling the measuring module to measure the width of the target object and the depth distance between the target object and the grabbing robot in the depth direction when the grabbing mechanism reaches the preset position of the target object, adjusting the length of the first mechanical arm and the length of the second mechanical arm according to the width and the depth distance, and controlling the grabbing mechanism to grab the target object. The grabbing robot measures the width of the target object and the distance between the target object and the grabbing robot in the depth direction, and adjusts the position and the length of the mechanical arm according to the measured value to grab the target object, so that the size of the target object is not limited, and the grabbing robot can automatically judge the position and the size of the target object; and automatic grabbing of the grabbing robot is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of grasping robots, and more specifically, to a grasping robot and a warehousing system. Background Art

[0002] In a bin storage warehouse with multi-layer shelves, a robot is required to automatically grasp bins on the shelves to achieve the placement or removal of bins, so as to realize the automatic in-out operation of the bins by the robot. In the related art, only bins or cartons with unified standard sizes can be used to realize the grasping function of the robot, and the degree of intelligence is low. Summary of the Invention

[0003] Embodiments of the present invention provide a grasping robot and a warehousing system.

[0004] Embodiments of the present invention provide a grasping robot, which includes a grasping mechanism, a measurement module, and a controller; the grasping mechanism includes: a first robotic arm and a second robotic arm; both ends of the first robotic arm are respectively connected to the first end of one of the second robotic arms; the length of the first robotic arm can be adjusted in a first direction, the length of the second robotic arm can be adjusted in a second direction, and the first direction and the second direction are different; the measurement module is arranged on the grasping mechanism; the controller is used to control the measurement module to measure the width of the target object and the depth distance between the target object and the grasping robot in the depth direction when the grasping mechanism reaches the preset position of the target object, adjust the length of the first robotic arm in the first direction according to the width, adjust the length of the second robotic arm in the second direction according to the depth distance, and control the grasping mechanism to grasp the target object.

[0005] In this way, the grasping robot measures the width of the target object and the depth distance between the target object and the grasping robot in the depth direction through the measurement module, and adjusts the position and length of the robotic arm according to the measurement values obtained by the measurement module to grasp the target object, so that the size of the target object is not limited, and the grasping robot can automatically determine the position and size of the target object by itself, realizing the automatic grasping of the grasping robot.

[0006] In some embodiments, the measurement module includes a solid-state line lidar; the solid-state line lidar is used to measure the first distances from a plurality of measurement points in the same direction to the solid-state line lidar; the controller is used to determine, from the plurality of measurement points, a plurality of first measurement points whose first distances to the solid-state line lidar are less than a set distance, determine the second distances between every two of the first measurement points, use the largest second distance as the width of the target object, and use the smallest first distance as the depth distance.

[0007] In this way, the controller controls the solid-state line lidar to accurately measure the width and depth distance of the target object, thereby ensuring the accuracy and stability of the grasping robot when grasping the target object.

[0008] In some embodiments, the first robotic arm includes a first telescopic motor, and the second robotic arm includes a second telescopic motor; the controller is configured to control the first telescopic motor according to the width to adjust the length of the first robotic arm in the first direction, and control the second telescopic motor according to the depth distance to adjust the length of the second robotic arm in the second direction.

[0009] In this way, by controlling the operation of the first telescopic motor and the second telescopic motor by the controller, the lengths of the first robotic arm and the second robotic arm can be adjusted to achieve the grasping of the target object.

[0010] In some embodiments, the grasping robot further includes a lifting motor; the controller is configured to control the measurement module to measure the height of the target object when the grasping mechanism reaches a preset position of the target object, and control the lifting motor to adjust the height of the grasping robot according to the height.

[0011] In this way, after the robot reaches the preset position, the controller measures the height of the target object through the measurement module, and controls the lifting motor for fine adjustment according to the height to adjust the height of the robotic arm of the grasping robot to a position where the target object can be stably grasped.

[0012] In some embodiments, the measurement module is provided with a corresponding rotating mechanism; the controller is configured to control the measurement direction of the measurement module to be the third direction when the measurement module is required to measure the width and the depth distance, and control the measurement direction of the measurement module to be the fourth direction when the measurement module is required to measure the height, and control the rotating mechanism to rotate so that the measurement direction of the measurement module can be switched between the third direction and the fourth direction.

[0013] In this way, the same set of measurement modules can be used to measure the height and width, reusing the measurement modules, reducing the number of measurement modules, and lowering the cost.

[0014] In some embodiments, the grasping robot further includes a gripper and a support tray, and the gripper is disposed at one end of the second robotic arm away from the first robotic arm; the controller is configured to adjust the second robotic arm to a target length according to the target length of the second robotic arm determined by the depth distance, and control the gripper to grasp the target object; the support tray is used to place the target object grasped by the gripper.

[0015] In this way, the target object can be grasped by the gripper, and the grasped target object can be stably placed on the tray by the supporting tray, without continuously occupying the robotic arm.

[0016] In some embodiments, the robotic arm includes two second robotic arms and one first robotic arm; the measurement module is a radar, and the radar is disposed at the second end of the second robotic arm.

[0017] In this way, the two second robotic arms are respectively connected to both ends of the first robotic arm. By adjusting the length of the first robotic arm according to the width of the target object and adjusting the length of the second robotic arm according to the depth distance, the target object can be stably grasped.

[0018] In some embodiments, when the grasping mechanism reaches a preset position of the target object, the controller is configured to determine an accurate position of the target object in the horizontal direction according to the width and the depth distance of the target object, and send the accurate position to the towing robot, so that the towing robot can tow the grasping robot to the accurate position.

[0019] In this way, the accurate position can be determined according to the depth distance and the width measured by the measurement module. When in the accurate position, the grasping robot can grasp the target object more stably, thereby improving the stability and accuracy of the grasping by the grasping robot.

[0020] In some embodiments, when the grasping mechanism reaches a preset position of the target object, the controller is configured to determine a first coordinate of the target object in the horizontal direction in a first coordinate system according to the width and the depth distance of the target object, and based on the coordinates of the measurement module in a second coordinate system, convert the first coordinate into a second coordinate in the second coordinate system, and send the second coordinate to the towing robot; the first coordinate system is a coordinate system set based on the measurement module, and the second coordinate system is a coordinate system used by the towing robot.

[0021] In this way, through the conversion between the first coordinate system and the second coordinate system, the transmission of position information between the grasping robot and the towing robot is realized, so that the towing robot can tow the grasping robot to the target position according to the width and the depth distance measured by the measurement module.

[0022] An embodiment of the present invention provides a warehousing system, which includes a towing robot and the grasping robot according to any one of the above embodiments, and the towing robot is configured to tow the grasping robot to move.

[0023] In this way, the grasping robot measures the width of the target object and the depth distance between the target object and the grasping robot in the depth direction through the measurement module, and adjusts the position and length of the robotic arm according to the measurement values obtained by the measurement module to grasp the target object. Thus, without restricting the size of the target object, the grasping robot can automatically determine the position and size of the target object and achieve automatic grasping by the grasping robot.

[0024] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0026] Figure 1 is a schematic diagram of the grasping robot and the target object according to an embodiment of the present invention;

[0027] Figure 2 is a schematic diagram of the grasping robot according to an embodiment of the present invention;

[0028] Figure 3 is a schematic diagram of the grasping robot and the target object according to an embodiment of the present invention;

[0029] Figure 4 is a schematic diagram of the grasping robot and the target object according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] The following details the embodiments of the present invention. The embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0031] In a bin-type storage warehouse with multi-layer shelves, a robot is required to automatically grasp bins on the shelves to achieve the putting in or taking out of bins, so as to realize the automatic in-out operation of the bins by the robot. In the related art, only bins or cartons with a unified standard size can be used to achieve the grasping function of the robot, and the degree of intelligence is low.

[0032] Please refer to Figures 1 to 3, an embodiment of the present invention provides a grasping robot 100, which includes a grasping mechanism 10, a measurement module 20, and a controller 30; the grasping mechanism 10 includes: a first robotic arm 11 and a second robotic arm 12; both ends of the first robotic arm 11 are respectively connected to the first end of a second robotic arm 12; the length of the first robotic arm 11 can be adjusted in a first direction, and the length of the second robotic arm 12 can be adjusted in a second direction, and the first direction and the second direction are different; the measurement module 20 is arranged on the grasping mechanism 10; the controller 30 is used to control the measurement module 20 to measure the width of the target object 200 and the depth distance between the target object 200 and the grasping robot 100 in the depth direction when the grasping mechanism 10 reaches the preset position of the target object 200, adjust the length of the first robotic arm 11 in the first direction according to the width, adjust the length of the second robotic arm 12 in the second direction according to the depth distance, and control the grasping mechanism 10 to grasp the target object 200.

[0033] Specifically, the measurement module 20 can be a radar or an MCU integrated with a vision algorithm and other modules with ranging functions. In this embodiment, the measurement module 20 is taken as an example of a radar for illustration. A coordinate system can be established based on the measurement module 20, with the origin being the position of the measurement module 20, the X-axis being the horizontal direction when the grasping robot 100 is facing the shelf, the Y-axis being the depth direction extending from the grasping robot 100 to the shelf, and the Z-axis being the vertical direction. The depth distance is the distance between the target object 200 and the grasping robot 100 in the positive direction of the Y-axis. The target object 200 can be placed on the shelf, and the target object 200 can be a bin or a carton and other objects to be grasped. The length of the first robotic arm 11 is determined according to the width of the bin. In one embodiment, when grasping the target object 200, the length direction of the first robotic arm 11 can be set parallel to the width direction of the bin, and the length of the first robotic arm 11 can be adjusted in the direction parallel to the width direction of the bin, that is, the first direction can be parallel to the width direction of the bin. The second robotic arms 12 can be two, and the two second robotic arms 12 are respectively arranged at both ends of the first robotic arm 11. The length of the second robotic arm 12 can be adjusted in the depth direction of the bin, that is, the second direction can be the depth direction of the bin. The controller 30 can adjust the distance between the second robotic arms 12 by adjusting the length of the first robotic arm 11. The second robotic arms 12 can extend towards the bin. Controlling the adjustment of the length of the first robotic arm 11 according to the width of the bin measured by the radar can make it more stable for the second robotic arms 12 to grasp the bin from both sides of the bin. By adjusting the length of the second robotic arm 12 according to the depth distance measured by the radar, one end of the second robotic arm 12 can be made to approach the bin to control the grasping mechanism 10 to grasp the bin.

[0034] In another embodiment, the number of the first robotic arm 11 and the second robotic arm 12 are both one. When grabbing the target object 200, the second robotic arm 12 can extend toward the material box, and the first robotic arm 11 is connected to the end of the second robotic arm 12 close to the material box. The first robotic arm 11 is set close to the material box, and the controller 30 adjusts the length of the first robotic arm 11 according to the measured width of the material box, and sets clamps at both ends of the first robotic arm 11 to clamp the material box and grab it.

[0035] In the related art, since the grasping robot 100 cannot adaptively identify the size of the material box or carton, it is necessary to unify the size of all the material boxes or cartons in the warehouse. In the embodiment of the present invention, the grasping robot 100 can determine the size and position of the target object 200 by itself through the measurement module 20, and grasp it adaptively according to the measurement results. Therefore, the material boxes in the warehouse do not need to be unified, and material boxes or cartons of various sizes can be mixed and used, which reduces costs.

[0036] In this way, the grasping robot 100 measures the width of the target object 200 and the depth distance between the target object 200 and the grasping robot 100 in the depth direction through the measuring module 20, and adjusts the position and length of the robotic arm according to the measurement values ​​obtained by the measuring module 20 to grasp the target object 200, thereby not limiting the size of the target object 200. The grasping robot 100 can determine the position and size of the target object 200 by itself, thereby realizing automated grasping by the grasping robot 100.

[0037] See also Figure 3 In some embodiments, the measurement module 20 includes a solid-state line laser radar; the solid-state line laser radar is used to measure the first distances from multiple measurement points in the same direction to the solid-state line laser radar; the controller 30 is used to determine from the multiple measurement points a plurality of first measurement points whose first distances to the solid-state line laser radar are less than a set distance, determine the second distance between every two first measurement points, use the maximum second distance as the width of the target object 200, and use the minimum first distance as the depth distance.

[0038] Specifically, the grasping robot 100 can use a solid-state line lidar as the measurement module 20. The controller 30 can control the solid-state line lidar to continuously measure the distances of multiple points in one direction, determine multiple first measurement points whose first distance to the solid-state line lidar is less than the set distance, and the second distance between every two first measurement points whose first distance is less than the set distance. The first distance is the distance from the measurement point to the grasping robot 100, and the second distance is the distance between any two first measurement points. The first measurement points are the measurement points located on the target object 200. Then, based on the smallest first distance, the distance from the target object 200 to the grasping robot 100 is determined, and based on the largest second distance, the width of the target object 200 is determined, so as to judge the basic shape and depth distance of the target object 200, thereby realizing the distance recognition and positioning of the plane in this direction. For example, the controller 30 can use the installation point of the solid-state line lidar as the coordinate origin of the grasping robot 100, and then according to the measured distances of multiple points, the relative coordinate positions of the shelf or the bin and the grasping robot 100 can be calculated. Thus, the position positioning and recognition of the shelf and the bin are realized. The accuracy of the solid-state line lidar can reach 3%, the effective measurement distance can reach 1 meter, and the FOV range is 60°. This measurement range can already meet and cover the measurement distances of general shelf layer heights and general bin sizes. Therefore, using the solid-state line lidar can accurately position and measure the distance of the bin and the shelf with high precision.

[0039] In this way, the controller 30 controls the solid-state line lidar to accurately measure the width and depth distance of the target object 200, thereby ensuring the accuracy and stability of the grasping robot 100 when grasping the target object 200.

[0040] Please refer to Figure 2 , in some embodiments, the first robotic arm 11 includes a first telescopic motor 111, and the second robotic arm 12 includes a second telescopic motor 112. The controller 30 is configured to control the first telescopic motor 111 according to the width to adjust the length of the first robotic arm 11 in the first direction, and control the second telescopic motor 112 according to the depth distance to adjust the length of the second robotic arm 12 in the second direction.

[0041] Specifically, both the first telescopic motor 111 and the second telescopic motor 112 are telescopic motors. The telescopic motors are arranged to be connected to the robotic arms. The telescopic motors can be used to adjust the lengths of the robotic arms. The number of telescopic motors can correspond one-to-one to the number of robotic arms, that is, the number of the first telescopic motors 111 is the same as that of the first robotic arms 11, and the number of the second telescopic motors 112 is the same as that of the second robotic arms 12. In one embodiment, the grasping robot 100 has one first robotic arm 11 and two second robotic arms 12. Then the mobile robot has one first telescopic motor 111 and two second telescopic motors 112 to respectively control the above-mentioned robotic arms. The controller 30 controls the first telescopic motor 111 to adjust the length of the first robotic arm 11 in the first direction according to the width of the bin measured by the radar, and controls the second telescopic motor 112 to adjust the length of the second robotic arm 12 in the second direction according to the depth distance from the bin to the grasping robot 100. The grasping robot 100 controls the telescopic motors to adjust the lengths of the robotic arms according to the width and depth distance of the bin measured by the radar, and controls the grasping mechanism 10 to grasp the bin.

[0042] In this way, by controlling the operation of the first telescopic motor 111 and the second telescopic motor 112 by the controller 30, the lengths of the first robotic arm 11 and the second robotic arm 12 can be adjusted to achieve the grasping of the target object 200.

[0043] Please refer to Figure 2 and Figure 4 , in some embodiments, the grasping robot 100 further includes a lifting motor 40; the controller 30 is configured to control the measurement module 20 to measure the height of the target object 200 when the grasping mechanism 10 reaches the preset position of the target object 200, and control the lifting motor 40 to adjust the height of the grasping robot 100 according to the height.

[0044] Specifically, the grasping robot 100 further includes a lidar, which can be used to measure the vertical height of the shelf layer where the target object 200 is located relative to the ground. When the grasping robot 100 moves to the shelf position of the bin under the traction of the towing robot, the controller 30 controls the lifting motor 40 to lift the grasping mechanism 10, and the lidar measures the height from the ground to determine whether the grasping mechanism 10 reaches the preset position. After reaching the preset position, the controller 30 controls the radar to measure the height of the bin, and controls the lifting motor 40 to operate according to the height measured by the radar to finely adjust the height of the grasping mechanism 10, so that the grasping mechanism 10 of the grasping robot 100 is in a position where it can stably grasp the target object 200, thereby improving the grasping stability of the grasping robot 100.

[0045] Thus, after the robot reaches the preset position, the controller 30 measures the height of the target object 200 through the measurement module 20, and controls the lifting motor 40 for fine-tuning according to the height, so as to adjust the height of the robotic arm of the grasping robot 100 to a position where the target object 200 can be stably grasped. In some embodiments, the measurement module 20 is provided with a corresponding rotating mechanism; the controller 30 is configured to control the measurement direction of the measurement module to be the third direction when the measurement module needs to measure the width and depth distances, and control the measurement direction of the measurement module to be the fourth direction when the measurement module needs to measure the height, and control the rotating mechanism to rotate, so that the measurement direction of the measurement module 20 can be switched between the third direction and the fourth direction.

[0046] Specifically, the same set of measurement modules 20 can be used to measure the height of the position where the target object 200 is located and the width of the target object 200. Since the included angle between the scanning direction when the solid-state line laser radar measures the height and the scanning direction when it measures the width is 90°, the included angle between the third direction and the fourth direction is 90°. The controller 30 can rotate the solid-state line laser radar by 90° when measuring the width to be used for measuring the height.

[0047] Thus, the same set of measurement modules 20 can be used for height and width measurement, reusing the measurement modules 20, reducing the number of measurement modules 20, and lowering the cost.

[0048] Please refer to Figure 1 and Figure 3 , in some embodiments, the grasping robot 100 further includes a gripper 50 and a support tray 60. The gripper 50 is arranged at one end of the second robotic arm 12 away from the first robotic arm 11; the controller 30 is configured to adjust the second robotic arm 12 to the target length according to the target length of the second robotic arm 12 determined by the depth distance, and control the gripper 50 to grasp the target object 200; the support tray 60 is used for placing the target object 200 grasped by the gripper 50.

[0049] Specifically, the gripper 50 is provided at one end of the second robotic arm 12 away from the first robotic arm 11, that is, at one end of the second robotic arm 12 close to the target object 200 when grasping the target object 200. When the controller 30 adjusts the length of the second robotic arm 12 to the target length through the second telescopic motor 112, the gripper 50 is used to grasp the target object 200, and the grasping methods include clamping, hooking, etc. In one embodiment, when using the clamping method to grasp an object, the gripper 50 follows the second robotic arm 12 to extend to the middle position between the two side faces of the bin. The controller 30 controls the first robotic arm 11 to slightly shorten to reduce the distance between the two second robotic arms 12, so that the gripper 50 clamps the bin. After clamping the bin, the controller 30 controls the motor to operate to control the second robotic arm 12 to retract, thereby clamping out the bin and placing it on the support tray 60, realizing the clamping of the bin. In another embodiment, when using the hooking method to grasp an object, the gripper 50 follows the second robotic arm 12 to extend from both sides of the bin to the rear position of the bin. The controller 30 controls the first robotic arm 11 to slightly shorten to reduce the distance between the two second robotic arms 12, so that the gripper 50 stably hooks the bin. The controller 30 controls the motor to operate to control the second robotic arm 12 to retract, thereby hooking out the bin and placing it on the support tray 60, realizing the hooking of the bin.

[0050] In this way, the target object 200 can be grasped by the gripper 50, and the grasped target object 200 can be stably stored on the tray through the support tray 60, without continuously occupying the robotic arm.

[0051] In some embodiments, the robotic arm includes two second robotic arms 12 and one first robotic arm 11; the measurement module 20 is a radar, and the radar is provided at the second end of the second robotic arm 12.

[0052] Specifically, when the grasping robot 100 grasps the target object 200, the length direction of the first robotic arm 11 is parallel to the width direction of the target object 200. The two ends of the first robotic arm 11 are respectively connected to the first ends of two second robotic arms 12, and the second ends of the second robotic arms 12 are connected to the gripper 50. The measurement module 20 can be a solid-state line laser radar. The solid-state line laser radar determines the width and depth distances of the bin by measuring the distances at multiple points in the horizontal direction. The controller 30 adjusts the length of the first robotic arm 11 according to the width of the bin, so that the distance between the two second robotic arms 12 is slightly greater than the width of the bin, and controls the motor according to the depth distance to adjust the length of the second robotic arm 12, so that the gripper 50 connected to the second robotic arm 12 reaches both sides of the bin, and controls the gripper 50 to grab the bin out; A support tray 60 is arranged between the two second robotic arms 12 and the first robotic arm 11, and the grabbed bin is placed on the support tray 60, so that the bin can move with the grasping robot 100. The number of solid-state line laser radars can be two, and they are respectively arranged at the second ends of the second robotic arms 12. The two solid-state line laser radars can locate the target object 200 more accurately. In addition, the grasping robot 100 can determine whether the bin is placed horizontally according to the measurement results of the measurement module 20. If the bin is not placed horizontally, it may be unstable when grasping the bin and cause accidental dropping. The radar can be arranged at one end of the two second robotic arms 12 away from the first robotic arm 11. The radar can identify whether the bin is placed horizontally while measuring the distance. If it is determined that the bin is not placed horizontally, for example, the depth distances between both sides of the bin and the grasping robot 100 are different, the lengths of the second robotic arms 12 are adjusted respectively according to the placement position of the bin to stably grasp the bin.

[0053] In this way, the two second robotic arms 12 are respectively connected to the two ends of the first robotic arm 11. By adjusting the length of the first robotic arm 11 according to the width of the target object 200 and adjusting the length of the second robotic arm 12 according to the depth distance, the target object 200 can be stably grasped.

[0054] In some embodiments, the controller 30 is configured to determine the precise position of the target object 200 in the horizontal direction according to the width and depth distances of the target object 200 when the grasping mechanism 10 reaches the preset position of the target object 200, and send the precise position to the towing robot, so that the towing robot tow the grasping robot 100 to the precise position.

[0055] Specifically, when initially determining the bin to be grasped, the grasping robot 100 obtains the position of the shelf where the bin is located to determine the preset position, and moves to the preset position under the traction of the towing robot. The preset position includes the height of the shelf layer where the bin is located. The lidar of the grasping robot 100 can be used to measure the distance of the grasping robot 100 from the ground. The grasping robot 100 moves to the height of the shelf layer where the bin is located according to the measured height under the control of the lifting motor 40, that is, it reaches the preset position. Since the position where the grasping robot 100 initially arrives under the traction of the towing robot may be offset relative to the target object 200, if grasping is directly performed at this position, the grasping may be unstable due to excessive deviation, resulting in the problem of the target object 200 falling. Therefore, in the embodiment of the present invention, the solid-state line lidar of the grasping robot 100 scans the bin to be grasped, measures the width and placement position of the bin, and the controller 30 determines the precise position of the bin in the horizontal direction according to the width and depth distance of the bin, and sends the precise position to the towing robot. The precise position can be the position corresponding to the center of the bin. The grasping robot 100 moves to the precise position under the drive of the towing robot. When in the precise position, the grasping robot 100 can grasp the bin more stably; the controller 30 adjusts the lengths of the first robotic arm 11 and the second robotic arm 12 to match the size and position of the bin, so as to realize the grasping of the bin.

[0056] In this way, the precise position can be determined according to the depth distance and width measured by the measurement module 20. When in the precise position, the grasping robot 100 can grasp the target object 200 more stably, thereby improving the stability and accuracy of the grasping of the grasping robot 100.

[0057] In some embodiments, the controller 30 is configured to, when the grasping mechanism 10 reaches the preset position of the target object 200, determine the first coordinate of the target object 200 in the horizontal direction in the first coordinate system according to the width and depth distance of the target object 200, and convert the first coordinate into the second coordinate in the second coordinate system based on the coordinate of the measurement module 20 in the second coordinate system, and send the second coordinate to the towing robot; the first coordinate system is a coordinate system set based on the measurement module 20, and the second coordinate system is the coordinate system used by the towing robot.

[0058] Specifically, the coordinates of the measurement module 20 in the second coordinate system are known values. The first coordinate system is a coordinate system set based on a solid-state lidar, and the second coordinate system is a coordinate system used by the towing robot. When the grasping mechanism 10 reaches the preset position, the controller 30 determines the first coordinate of the target object 200 in the horizontal direction in the first coordinate system according to the measured width and depth distance of the target object 200, that is, determines the coordinates of the precise position in the first coordinate system; and converts the first coordinate into the second coordinate according to the coordinates of the measurement module 20 in the second coordinate system to obtain the coordinates of the precise position in the second coordinate system, and sends the second coordinate to the towing robot. The towing robot towes the grasping robot 100 to the precise position according to the second coordinate.

[0059] In this way, through the conversion between the first coordinate system and the second coordinate system, the transmission of position information between the grasping robot 100 and the towing robot is realized, so that the towing robot can tow the grasping robot 100 to the target position according to the width and depth distance measured by the measurement module 20.

[0060] An embodiment of the present invention provides a warehousing system, which includes a towing robot and the grasping robot according to any of the above embodiments. The towing robot is used to tow the grasping robot to move.

[0061] In this way, the grasping robot 100 measures the width of the target object 200 and the depth distance between the target object 200 and the grasping robot 100 in the depth direction through the measurement module 20, and adjusts the position and length of the robotic arm according to the measurement values obtained by the measurement module 20 to grasp the target object 200. Thus, without restricting the size of the target object 200, the grasping robot 100 can independently determine the position and size of the target object 200, realizing the automatic grasping of the grasping robot 100.

[0062] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. In addition, without conflict, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0063] In addition, the term "connection" should be understood in a broad sense. For example, it may include fixed connection, detachable connection, or integral connection; it may include direct connection, indirect connection through an intermediate medium, or communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0064] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0065] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or more executable instructions for implementing a specific logical function or process. And the scope of the preferred embodiments of the present invention includes additional implementations, where the functions may be executed in a substantially simultaneous manner or in the reverse order according to the involved functions, rather than in the order shown or discussed. This should be understood by those skilled in the technical field to which the embodiments of the present invention belong.

[0066] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A grasping robot, characterized in that, The grasping robot includes: a grasping mechanism, a measurement module, and a controller; The grasping mechanism includes: a first robotic arm and a second robotic arm; both ends of the first robotic arm are respectively connected to the first end of one of the second robotic arms; The length of the first robotic arm can be adjusted in a first direction, and the length of the second robotic arm can be adjusted in a second direction, and the first direction and the second direction are different; The measurement module is arranged on the grasping mechanism; The controller is configured to, when the grasping mechanism reaches a preset position of a target object, control the measurement module to measure the width of the target object and the depth distance between the target object and the grasping robot in the depth direction, adjust the length of the first robotic arm in the first direction according to the width, adjust the length of the second robotic arm in the second direction according to the depth distance, and control the grasping mechanism to grasp the target object.

2. The grasping robot according to claim 1, wherein The measurement module includes a solid-state line lidar; The solid-state line lidar is used to measure the first distance from a plurality of measurement points in the same direction to the solid-state line lidar; The controller is configured to determine, from the plurality of measurement points, a plurality of first measurement points whose first distance to the solid-state line lidar is less than a set distance, determine the second distance between every two of the first measurement points, take the maximum second distance as the width of the target object, and take the minimum first distance as the depth distance.

3. The grasping robot according to claim 1, wherein The first robotic arm includes a first telescopic motor, and the second robotic arm includes a second telescopic motor; The controller is configured to control the first telescopic motor according to the width to adjust the length of the first robotic arm in the first direction, and control the second telescopic motor according to the depth distance to adjust the length of the second robotic arm in the second direction.

4. The gripping robot according to claim 1, wherein, The grasping robot further includes: a lifting motor; The controller is configured to, when the grasping mechanism reaches the preset position of the target object, control the measurement module to measure the height of the target object, and control the lifting motor to adjust the height of the grasping robot according to the height.

5. The grasping robot according to claim 4, wherein The measurement module is provided with a corresponding rotating mechanism; The controller is configured to, when it is necessary for the measurement module to measure the width and the depth distance, control the measurement direction of the measurement module to be a third direction, and when it is necessary for the measurement module to measure the height, control the measurement direction of the measurement module to be a fourth direction, and control the rotating mechanism to rotate so that the measurement direction of the measurement module can be switched between the third direction and the fourth direction.

6. The gripping robot according to claim 1, wherein, The grasping robot further includes: A gripper, which is arranged at one end of the second robotic arm far from the first robotic arm; The controller is configured to adjust the second robotic arm to the target length according to the target length of the second robotic arm determined by the depth distance, and control the gripper to grasp the target object; A support tray, which is used to place the target object grasped by the gripper.

7. The grasping robot according to claim 1, characterized in that, The robotic arm includes two of the second robotic arms and one of the first robotic arms; The measurement module is a radar, and the radar is disposed at the second end of the second robotic arm.

8. The grasping robot according to claim 1, wherein The controller is configured to, when the grasping mechanism reaches a preset position of the target object, determine an accurate position of the target object in the horizontal direction according to the width and the depth distance of the target object, and send the accurate position to the towing robot, so that the towing robot tow the grasping robot to the accurate position.

9. The grasping robot according to claim 8, wherein The controller is configured to, when the grasping mechanism reaches a preset position of the target object, determine a first coordinate of the target object in the horizontal direction in a first coordinate system according to the width and the depth distance of the target object, and based on the coordinate of the measurement module in a second coordinate system, convert the first coordinate into a second coordinate in the second coordinate system, and send the second coordinate to the towing robot; The first coordinate system is a coordinate system set based on the measurement module, and the second coordinate system is a coordinate system used by the towing robot.

10. A warehousing system, characterized in that, The warehousing system includes a towing robot and the grasping robot according to any one of claims 1-9, and the towing robot is configured to tow the grasping robot to move.

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