Grasping robot and warehousing system

Abstract

A grasping robot (100) and a warehousing system. The grasping robot (100) comprises a grasping mechanism (10), a measuring module (20) and a controller (30). The grasping mechanism (10) comprises a first mechanical arm (11) and second mechanical arms (12), two ends of the first mechanical arm (11) being respectively connected to a first end of one second mechanical arm (12). The controller (30) is used for controlling, when the grasping mechanism (10) reaches a preset position of a target object (200), the measuring 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, adjusting the lengths of the first mechanical arm (11) and the second mechanical arms (12) on the basis of the width and the depth distance, and controlling the grasping mechanism (10) to grasp the target object (200).

Description

Gripping robots and storage systems

[0001] Priority information

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on December 29, 2023, with application number 202311871579.4 and titled “Grasping Robot and Warehousing System,” the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the technical field of grasping robots, and more specifically, to a grasping robot and a warehousing system. Background Art

[0004] In a multi-layered bin-type storage warehouse, robots are required to automatically grab bins from the shelves to place or remove them, thus enabling the robot to automatically move bins in and out of the warehouse. Related technologies require using bins or cartons of uniform standard sizes to achieve the robot's grabbing function, resulting in a low level of intelligence. Summary of the Invention

[0005] Embodiments of the present application provide a grasping robot and a warehousing system.

[0006] An embodiment of the present application provides a grasping robot, which includes a grasping mechanism, a measuring module and a controller; the grasping mechanism includes: a first robotic arm and a second robotic arm; the two ends of the first robotic arm are respectively connected to the first end of the second robotic arm; 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 measuring module is arranged on the grasping mechanism; the controller is used to control the measuring 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 a 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.

[0007] 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 measuring module, and adjusts the position and length of the robotic arm according to the measurement values ​​obtained by the measuring module to grasp the target object. Thereby, the size of the target object is not restricted, and the grasping robot can determine the position and size of the target object by itself, thereby realizing automatic grasping by the grasping robot.

[0008] In some embodiments, the measurement module includes a solid-state line laser radar; the solid-state line laser radar is used to measure the first distance from multiple measurement points in the same direction to the solid-state line laser radar; the controller is used to determine, from the multiple measurement points, multiple first measurement points whose first distance to the solid-state line laser radar is less than a set distance, determine the second distance 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.

[0009] In this way, the controller controls the solid-state line laser radar to measure the width and depth distance of the target object with high precision, thereby ensuring the accuracy and stability of the grasping robot when grasping the target object.

[0010] 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 used 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.

[0011] In this way, by controlling the operation of the first telescopic motor and the second telescopic motor through the controller, the lengths of the first robotic arm and the second robotic arm can be adjusted to achieve grasping of the target object.

[0012] In some embodiments, the grasping robot also includes a lifting motor; the controller is used to control the measuring module to measure the height of the target object when the grasping mechanism reaches the preset position of the target object, and control the lifting motor to adjust the height of the grasping robot according to the height.

[0013] In this way, after the robot reaches the preset position, the controller measures the height of the target object through the measuring module, and controls the lifting motor to make fine adjustments based on the height to adjust the height of the robotic arm of the grasping robot to a position where it can stably grasp the target object.

[0014] In some embodiments, the measuring module is provided with a corresponding rotating mechanism; the controller is used to control the measuring direction of the measuring module to be a third direction when the measuring module is required to measure the width and the depth distance, and to control the measuring direction of the measuring module to be a fourth direction when the measuring module is required to measure the height, and to control the rotating mechanism to rotate so that the measuring direction of the measuring module can be switched between the third direction and the fourth direction.

[0015] In this way, the same set of measurement modules can be used to measure height and width, and the measurement modules can be reused, thereby reducing the number of measurement modules and lowering costs.

[0016] In some embodiments, the grasping robot also includes a gripper and a support tray, and the gripper is arranged at the end of the second robotic arm away from the first robotic arm; the controller is used to adjust the second robotic arm to the target length of the second robotic arm determined according to 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.

[0017] In this way, the target object can be grasped out by the gripper, and the grasped target object can be stably stored on the pallet by the support pallet, without occupying the robotic arm all the time.

[0018] 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.

[0019] In this way, the two second robotic arms are respectively connected to the two 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.

[0020] In some embodiments, the controller is used to determine the precise horizontal position of the target object based on the width and the depth distance of the target object when the grasping mechanism reaches the preset position of the target object, and send the precise position to the traction robot so that the traction robot pulls the grasping robot to the precise position.

[0021] In this way, the precise position can be determined by measuring the depth distance and width obtained by the measurement module. When in the precise position, the grasping robot can grasp the target object more stably, thereby improving the grasping stability and accuracy of the grasping robot.

[0022] In certain embodiments, the controller is used to determine the first horizontal coordinate of the target object in a first coordinate system based on the width and the depth distance of the target object when the grasping mechanism reaches a preset position of the target object, convert the first coordinate into a second coordinate in the second coordinate system based on the coordinate of the measuring module in the second coordinate system, and send the second coordinate to the traction robot; the first coordinate system is a coordinate system set based on the measuring module, and the second coordinate system is a coordinate system used by the traction robot.

[0023] In this way, the position information transmission between the grasping robot and the traction robot is realized through the conversion of the first coordinate system and the second coordinate system, so that the traction robot can pull the grasping robot to the target position according to the width and depth distance measured by the measurement module.

[0024] An embodiment of the present application provides a warehousing system, which includes a traction robot and a grasping robot according to any one of the above embodiments, wherein the traction robot is used to tow the grasping robot to move.

[0025] 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 measuring module, and adjusts the position and length of the robotic arm according to the measurement values ​​obtained by the measuring module to grasp the target object. Thereby, the size of the target object is not restricted, and the grasping robot can determine the position and size of the target object by itself, thereby realizing automatic grasping by the grasping robot.

[0026] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0028] FIG1 is a schematic diagram of a grasping robot and a target object according to certain embodiments of the present application;

[0029] FIG2 is a schematic diagram of a grasping robot according to certain embodiments of the present application;

[0030] FIG3 is a schematic diagram of a grasping robot and a target object according to certain embodiments of the present application;

[0031] FIG4 is a schematic diagram of a grasping robot and a target object according to certain embodiments of the present application. DETAILED DESCRIPTION

[0032] The embodiments of the present application are described in detail below. Implementations of the embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0033] In a multi-layered bin-type storage warehouse, robots are required to automatically grab bins from the shelves to place or remove them, thus enabling the robot to automatically move bins in and out of the warehouse. Related technologies require using bins or cartons of uniform standard sizes to achieve the robot's grabbing function, resulting in a low level of intelligence.

[0034] Please refer to Figures 1 to 3. An embodiment of the present application provides a grasping robot 100, which includes a grasping mechanism 10, a measuring 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 measuring module 20 is arranged on the grasping mechanism 10; the controller 30 is used to control the measuring 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 a 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.

[0035] Specifically, the measurement module 20 can be a module with a ranging function, such as a radar or an MCU with an integrated vision algorithm. This embodiment uses the radar as an example for explanation. 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. The target object 200 can be a material box or a carton waiting to be grasped. The length of the first robotic arm 11 is determined based on the width of the material box. In one embodiment, when grasping the target object 200, the length of the first robotic arm 11 can be arranged parallel to the width of the container. The length of the first robotic arm 11 can be adjusted in the direction parallel to the width of the container, that is, the first direction can be parallel to the width of the container. There can be two second robotic arms 12, each of which is arranged at either end of the first robotic arm 11. The length of the second robotic arms 12 can be adjusted in the depth direction of the container, that is, the second direction can be the depth direction of the container. 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 be extended toward the container. Controlling the length of the first robotic arm 11 based on the width of the container measured by radar can make the second robotic arm 12 more stable when grasping the container from both sides. By adjusting the length of the second robotic arm 12 based on the depth distance measured by radar, one end of the second robotic arm 12 can be brought closer to the container, thereby controlling the grasping mechanism 10 to grasp the container.

[0036] 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 splints at both ends of the first robotic arm 11 to clamp the material box and grab it out.

[0037] In related art, because the grasping robot 100 cannot adaptively identify the size of a bin or carton, it is necessary to standardize the size of all bins or cartons in the warehouse. In the embodiment of the present application, the grasping robot 100 can independently determine the size and position of the target object 200 through the measurement module 20 and adaptively grasp it based on the measurement results. Therefore, the bins in the warehouse do not need to be standardized, and bins or cartons of various sizes can be mixed, reducing costs.

[0038] 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.

[0039] Please refer to 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 distance 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, multiple first measurement points whose first distance to the solid-state line laser radar is less than a set distance, determine the second distance between every two first measurement points, use the largest second distance as the width of the target object 200, and use the smallest first distance as the depth distance.

[0040] Specifically, the grasping robot 100 can use a solid-state laser radar as the measurement module 20. The controller 30 can control the solid-state laser radar to continuously measure the distance of multiple points in a direction, determine multiple first measurement points whose first distance to the solid-state laser radar is less than a set distance, and determine the second distance between each 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 point is a measurement point located on the target object 200. The distance from the target object 200 to the grasping robot 100 is determined based on the smallest first distance, and the width of the target object 200 is determined based on the largest second distance. This determines the basic shape and depth of the target object 200, thereby achieving distance recognition and positioning of the plane in the direction. For example, the controller 30 can use the solid-state laser radar installation point as the coordinate origin of the grasping robot 100. Then, based on the measured multi-point distances, it can calculate the relative coordinate position of the shelf or bin and the grasping robot 100. This achieves the location and recognition of the shelf and bin. The accuracy of solid-state line laser radar 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 distance of general shelf heights and general material box sizes. Therefore, the use of solid-state line laser radar can accurately locate and measure the distance of material boxes and shelves.

[0041] In this way, the controller 30 controls the solid-state line laser radar to measure the width and depth of the target object 200 with high precision, thereby ensuring the accuracy and stability of the grasping robot 100 when grasping the target object 200 .

[0042] 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 used 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.

[0043] Specifically, the first telescopic motor 111 and the second telescopic motor 112 are both telescopic motors connected to the robotic arms and capable of adjusting the length of the robotic arms. The number of telescopic motors corresponds to the number of robotic arms, i.e., the number of first telescopic motors 111 is the same as the number of first robotic arms 11, and the number of second telescopic motors 112 is the same as the number of second robotic arms 12. In one embodiment, the grasping robot 100 has one first robotic arm 11 and two second robotic arms 12. The mobile robot then has one first telescopic motor 111 and two second telescopic motors 112 to control the respective robotic arms. The controller 30 controls the first telescopic motor 111 to adjust the length of the first robotic arm 11 in a first direction based on the width of the bin measured by radar, and controls the second telescopic motor 112 to adjust the length of the second robotic arm 12 in a second direction based on the depth distance between the bin and the grasping robot 100. The grasping robot 100 controls the telescopic motors to adjust the length of the robotic arms based on the bin width and depth distance measured by radar, and controls the grasping mechanism 10 to grasp the bin.

[0044] 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 grasping of the target object 200 .

[0045] Please refer to Figures 2 and 4. In some embodiments, the grasping robot 100 also includes a lifting motor 40; a controller 30 is used to control the measuring module 20 to measure the height of the target object 200 when the grasping mechanism 10 reaches a preset position of the target object 200, and to control the lifting motor 40 to adjust the height of the grasping robot 100 according to the height.

[0046] Specifically, the grasping robot 100 also includes a laser radar, 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 where the material box is located under the traction of the traction robot, the controller 30 controls the lifting motor 40 to lift the grasping mechanism 10. The laser radar measures the height from the ground to determine whether the grasping mechanism 10 has reached the preset position. After reaching the preset position, the controller 30 controls the radar to measure the height of the material box and controls the lifting motor 40 to operate based on the height measured by the radar, fine-tuning the height of the grasping mechanism 10 to ensure 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.

[0047] Thus, after the robot reaches the preset position, the controller 30 measures the height of the target object 200 via the measurement module 20 and fine-tunes the lifting motor 40 based on the height, thereby adjusting the height of the gripping robot 100's robotic arm to a position capable of stably grasping the target object 200. In certain embodiments, the measurement module 20 is provided with a corresponding rotation mechanism; the controller 30 is configured to control the measurement module to measure in the third direction when the measurement module is required to measure width and depth, and to control the measurement module to measure in the fourth direction when the measurement module is required to measure height, and to control the rotation mechanism to rotate, so that the measurement module 20's measurement direction can switch between the third and fourth directions.

[0048] Specifically, the same set of measurement modules 20 can be used to measure the height of the target object 200 and the width of the target object 200. Since the angle between the scanning direction of the solid-state line laser radar when measuring the height and the scanning direction when measuring the width is 90°, the angle between the third direction and the fourth direction is 90°. The controller 30 rotates the solid-state line laser radar when measuring the width by 90° to measure the height.

[0049] In this way, the same set of measurement modules 20 can be used to measure the height and width, and the measurement modules 20 can be reused, thereby reducing the number of measurement modules 20 and lowering the cost.

[0050] Please refer to Figures 1 and 3. In some embodiments, the grasping robot 100 also includes a gripper 50 and a support tray 60. The gripper 50 is arranged at an end of the second robotic arm 12 away from the first robotic arm 11; the controller 30 is used 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 to place the target object 200 grasped by the gripper 50.

[0051] Specifically, the gripper 50 is disposed at an end of the second robotic arm 12 away from the first robotic arm 11, that is, at an end of the second robotic arm 12 that is 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. The grasping methods include clamping, hooking, etc. In one embodiment, the object is grasped by clamping. The gripper 50 follows the second robotic arm 12 to extend to the middle position of the two sides of the material box. The controller 30 controls the first robotic arm 11 to shorten slightly to reduce the distance between the two second robotic arms 12, so that the gripper 50 clamps the material box. After clamping the material box, the controller 30 controls the motor to operate to control the retraction of the second robotic arm 12, thereby clamping the material box out and placing it on the support tray 60 to achieve clamping of the material box. In another embodiment, an object is grabbed by hooking, and the gripper 50 follows the second robotic arm 12 to extend from both sides of the material box to the rear side of the material box. The controller 30 controls the first robotic arm 11 to be slightly shortened to reduce the distance between the two second robotic arms 12, so that the gripper 50 can stably hook the material box; the controller 30 controls the motor to operate to control the retraction of the second robotic arm 12, thereby hooking out the material box and placing it on the support tray 60 to achieve hooking of the material box.

[0052] In this way, the target object 200 can be grasped out by the gripper 50, and the grasped target object 200 can be stably stored on the tray by the support tray 60 without occupying the robot arm all the time.

[0053] 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, which is disposed at the second end of the second robotic arm 12 .

[0054] 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, and the two ends of the first robotic arm 11 are respectively connected to the first ends of the two second robotic arms 12, and the second ends of the second robotic arms 12 are connected to the gripper 50. The measuring module 20 can be a solid-state line laser radar, which determines the width and depth distance of the material box by measuring multiple point distances in the horizontal direction. The controller 30 adjusts the length of the first robotic arm 11 according to the width of the material box so that the distance between the two second robotic arms 12 is slightly larger than the width of the material box, and controls the motor to adjust the length of the second robotic arm 12 according to the depth distance, so that the gripper 50 connected to the second robotic arm 12 reaches both sides of the material box, and controls the gripper 50 to grab the material box out; a support tray 60 is provided between the two second robotic arms 12 and the first robotic arm 11, and the grasped material box is placed on the support tray 60 so that the material box can move with the grasping robot 100. The number of solid-state line laser radars can be two, and they are respectively set at the second end of the second robotic arm 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 material box is placed horizontally based on the measurement results of the measuring module 20. If the material box is not placed horizontally, the grasping may be unstable and cause accidental drop when grasping the material box. The radar can be set at one end of the two second robotic arms 12 away from the first robotic arm 11. The radar can identify whether the material box is placed horizontally while measuring the distance. If it is determined that the material box is not placed horizontally, for example, the depth distance between the two sides of the material box and the grasping robot 100 is different, the length of the second robotic arm 12 is adjusted according to the placement position of the material box to stably grasp the material box.

[0055] 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.

[0056] In some embodiments, the controller 30 is used to determine the precise horizontal position of the target object 200 based on the width and depth distance 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 traction robot so that the traction robot can tow the grasping robot 100 to the precise position.

[0057] Specifically, when initially determining the bin to be grasped, the grasping robot 100 obtains the location of the shelf on which the bin is located to determine a preset position, and then moves to the preset position under the traction of the traction robot. The preset position includes the height of the shelf layer where the bin is located. The grasping robot 100's laser radar can be used to measure the grasping robot 100's distance from the ground. Under the control of the lifting motor 40, the grasping robot 100 moves to the height of the shelf layer where the bin is located based on the measured height, thus reaching the preset position. Because the position initially reached by the grasping robot 100 under the traction of the traction robot may be offset relative to the target object 200, if grasping is performed directly at this position, the grasping may be unstable due to the excessive position deviation, which may cause the target object 200 to fall. Therefore, in the embodiment of the present application, the solid-state linear laser radar of the grasping robot 100 scans the material box to be grasped, measuring the width and placement of the material box. The controller 30 determines the precise horizontal position of the material box based on the width and depth of the material box and sends the precise position to the pulling robot. The precise position can be the position corresponding to the center of the material box. The grasping robot 100 moves to the precise position under the guidance of the pulling robot. When in the precise position, the grasping robot 100 can grasp the material box more stably. The controller 30 adjusts the length of the first robotic arm 11 and the second robotic arm 12 to match the size and position of the material box to achieve grasping of the material box.

[0058] In this way, the precise position can be determined by measuring the depth distance and width obtained 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 grasping stability and accuracy of the grasping robot 100.

[0059] In some embodiments, the controller 30 is used to determine the first horizontal coordinate of the target object 200 in a first coordinate system based on the width and depth distance of the target object 200 when the grasping mechanism 10 reaches the preset position of the target object 200, convert the first coordinate into a second coordinate in the second coordinate system based on the coordinate of the measuring module 20 in the second coordinate system, and send the second coordinate to the traction robot; the first coordinate system is a coordinate system set based on the measuring module 20, and the second coordinate system is a coordinate system used by the traction robot.

[0060] Specifically, the coordinates of the measurement module 20 in the second coordinate system are known values. The first coordinate system is a coordinate system established based on a solid-state line laser radar, and the second coordinate system is the coordinate system used by the traction robot. When the grasping mechanism 10 reaches the preset position, the controller 30 determines the first horizontal coordinate of the target object 200 in the first coordinate system based on the measured width and depth of the target object 200, that is, determines the coordinates of the precise position in the first coordinate system. The controller 30 then converts the first coordinate into a second coordinate based on the coordinates of the measurement module 20 in the second coordinate system, obtaining the coordinates of the precise position in the second coordinate system. The controller then transmits the second coordinates to the traction robot, which then tractions the grasping robot 100 to the precise position based on the second coordinates.

[0061] In this way, the position information transmission between the grasping robot 100 and the traction robot is realized through the conversion of the first coordinate system and the second coordinate system, so that the traction robot can pull the grasping robot 100 to the target position according to the width and depth distance measured by the measuring module 20.

[0062] An embodiment of the present application provides a warehousing system, which includes a traction robot and a grasping robot according to any one of the above embodiments, wherein the traction robot is used to tow the grasping robot to move.

[0063] 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.

[0064] In the description of this specification, the reference terms "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the exemplary expressions of the above terms do not necessarily refer to the same embodiment or example. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless they are mutually inconsistent.

[0065] Furthermore, the term "connection" should be interpreted broadly. For example, it can include fixed connection, detachable connection, or integral connection; it can include direct connection, indirect connection through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0066] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0067] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0068] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A grasping robot, wherein, 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 the 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 laser radar; The solid-state line laser radar is used to measure the first distance from a plurality of measurement points in the same direction to the solid-state line laser radar; 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 laser radar 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 grasping 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 grasping robot according to claim 1, wherein, The grasping robot further includes: A gripper, which is arranged 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 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, wherein, 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 arranged 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, convert the first coordinate into a second coordinate in a second coordinate system based on the coordinate of the measurement module 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, wherein, 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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