阅读说明：本技术 仓储机器人的控制方法、装置、设备及可读存储介质 (Storage robot control method, device, equipment and readable storage medium ) 是由 李汇祥 郑睿群 陈宇奇 于 2020-06-12 设计创作，主要内容包括：本发明提供一种仓储机器人的控制方法、装置、设备及可读存储介质。本发明的方法,在执行搬运任务之前,通过图像采集装置采集所述目标库位的图像数据,根据所述目标库位的图像数据,确定当前是否满足所述搬运任务的执行条件,在确定满足搬运任务的执行条件,也就是搬运装置执行搬运任务不会发生危险时,控制搬运装置执行所述搬运任务,可以避免发生危险,提高了仓储机器人的安全性。(The invention provides a control method, a control device, control equipment and a readable storage medium of a storage robot. According to the method, before the carrying task is executed, the image data of the target storage position are acquired through the image acquisition device, whether the current execution condition of the carrying task is met or not is determined according to the image data of the target storage position, and when the execution condition of the carrying task is determined to be met, namely the carrying task executed by the carrying device is not dangerous, the carrying device is controlled to execute the carrying task, so that the danger can be avoided, and the safety of the warehousing robot is improved.)

1. A control method of a warehousing robot having a carrying device and an image acquisition device, comprising:

acquiring image data of a target library position corresponding to the carrying task through the image acquisition device;

and controlling the carrying device to carry out the carrying task if the carrying task is determined to meet the carrying task execution condition according to the image data of the target storage position.

2. The method according to claim 1, wherein the acquiring, by the image acquisition device, image data of a target library position corresponding to a handling task comprises:

when the warehousing robot moves to a target position corresponding to the target warehouse location, controlling the image acquisition device to start and acquire image data of the target warehouse location;

alternatively, the first and second electrodes may be,

and when the warehousing robot moves to a preset range around the target warehouse location, controlling the image acquisition device to start and acquire the image data of the target warehouse location.

3. The method according to claim 2, wherein before the image capturing device is disposed on the carrying device and controls the image capturing device to start and capture the image data of the target storage location, the method further comprises:

and controlling the carrying device to align the target library position.

4. The method according to claim 1, wherein the controlling the conveying device to execute the conveying task if it is determined that the execution condition of the conveying task is satisfied based on the image data of the target library position includes:

detecting the image data of the target library position, and determining the state information of the target library position and/or the state information of the target object;

and controlling the carrying device to carry out the carrying task if the carrying task is determined to meet the carrying task execution condition according to the state information of the target storage position and/or the state information of the target object.

5. The method of claim 4, wherein the status information of the target library location comprises at least one of:

obstacle information on a carrying path of the target storage location;

size information of the target library location;

whether the target library location is free.

6. The method of claim 5, wherein the state information of the target object comprises at least one of:

identity information of the target object;

attitude information of the target object;

size information of the target object;

damage degree information of the target object;

and deformation degree information of the target object.

7. The method according to claim 6, wherein the handling task is a pick task, and the conditions for performing the handling task comprise at least one of:

no obstacle is arranged on the goods taking path of the target storage position;

the identity information, the posture information and the size information of the target object meet the goods taking condition;

the damage degree of the target object is within a first preset safety threshold range;

and the deformation degree of the target object is within a second preset safety threshold range.

8. The method of claim 6, wherein the handling task is a put task, and the conditions for performing the handling task include at least one of:

the target library position is free;

the size of the target storage position meets the stocking condition;

and no obstacle is arranged on the goods placing path of the target storage position.

9. The method according to any one of claims 1-8, further comprising:

according to the image data of the target storage position, if the image data do not meet the execution condition of the carrying task, sending error information to a server, wherein the error information comprises at least one of the following items: the state information of the target library position, the state information of the target object and the unsatisfied execution condition item.

10. The method of claim 9, wherein after sending the error message to the server, further comprising:

and controlling the warehousing robot to execute corresponding error handling behaviors according to the scheduling instruction of the server.

11. The method of claim 10, wherein the error handling behavior is any one of:

staying at the current position and waiting for indication;

moving to a target point;

and skipping the current carrying task and executing the next carrying task.

12. The method according to any one of claims 1-8, wherein acquiring image data of the target library location by the image acquisition device comprises at least one of:

acquiring two-dimensional image data of the target library position through a first shooting device;

acquiring three-dimensional point cloud data of the target library position through a second shooting device;

and collecting the two-dimensional point cloud data of the target library position through a laser radar device.

13. The method according to any one of claims 1 to 8, wherein before the acquiring, by the image acquisition device, the image data of the target library position corresponding to the handling task, further comprising:

and controlling the warehousing robot to move to the target warehouse location in response to an execution instruction of the carrying task.

14. The utility model provides a controlling means of storage robot, its characterized in that is applied to the storage robot, the storage robot includes handling device and image acquisition device, includes:

the data acquisition module is used for acquiring image data of a target library position corresponding to the carrying task through the image acquisition device;

and the control module is used for controlling the conveying device to execute the conveying task if the execution condition of the conveying task is determined to be met according to the image data of the target storage position.

15. A warehousing robot, comprising:

a processor, a memory, and a computer program stored on the memory and executable on the processor;

wherein the processor, when executing the computer program, implements the method of any of claims 1 to 13.

16. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 13.

Technical Field

The invention relates to the technical field of intelligent warehousing, in particular to a control method, a control device, control equipment and a readable storage medium for a warehousing robot.

Background

With the networking and intellectualization in the fields of intelligent manufacturing and warehouse logistics, warehouse logistics has a very important position in the process of enterprise generation management, and in the field of intelligent warehousing, warehousing robots replace workers to carry goods more and more generally.

In the existing intelligent storage system, due to the fact that a storage rack vibrates or artificial misoperation and the like can cause a bin to deviate in a storage position or fall off the storage rack, a storage robot can collide with the bin when taking or passing the bin. Therefore, potential safety hazards exist when the storage robot accesses the workbin.

Disclosure of Invention

The invention provides a control method, a control device, control equipment and a readable storage medium of a warehousing robot, which are used for solving the problem of low safety of the warehousing robot.

One aspect of the present invention provides a method for controlling a warehousing robot having a carrying device and an image acquisition device, including:

acquiring image data of a target library position corresponding to the carrying task through the image acquisition device; and controlling the carrying device to carry out the carrying task if the carrying task is determined to meet the carrying task execution condition according to the image data of the target storage position.

In a possible embodiment, the acquiring, by the image acquisition device, image data of a target library position corresponding to a transport task includes:

when the warehousing robot moves to a target position corresponding to the target warehouse location, controlling the image acquisition device to start and acquire image data of the target warehouse location; or when the warehousing robot moves to a preset range around the target storage position, controlling the image acquisition device to start and acquire the image data of the target storage position.

In a possible embodiment, before the image capturing device is disposed on the carrying device and controls the image capturing device to start and capture the image data of the target storage location, the method further includes:

and controlling the carrying device to align the target library position.

In one possible embodiment, the controlling the conveying device to execute the conveying task if it is determined that the execution condition of the conveying task is satisfied according to the image data of the target library position includes:

detecting the image data of the target library position, and determining the state information of the target library position and/or the state information of the target object; and controlling the carrying device to carry out the carrying task if the carrying task is determined to meet the carrying task execution condition according to the state information of the target storage position and/or the state information of the target object.

In one possible embodiment, the status information of the target library location comprises at least one of:

obstacle information on a carrying path of the target storage location; size information of the target library location; whether the target library location is free.

In one possible embodiment, the status information of the target object comprises at least one of:

identity information of the target object; attitude information of the target object; size information of the target object; damage degree information of the target object; and deformation degree information of the target object.

In one possible embodiment, the handling task is a pick task, and the execution condition of the handling task includes at least one of the following:

no obstacle is arranged on the goods taking path of the target storage position; the identity information, the posture information and the size information of the target object meet the goods taking condition; the damage degree of the target object is within a first preset safety threshold range; and the deformation degree of the target object is within a second preset safety threshold range.

In one possible embodiment, the handling task is a put task, and the execution condition of the handling task includes at least one of the following:

the target library position is free; the size of the target storage position meets the stocking condition; and no obstacle is arranged on the goods placing path of the target storage position.

In one possible embodiment, the method further comprises:

according to the image data of the target storage position, if the image data do not meet the execution condition of the carrying task, sending error information to a server, wherein the error information comprises at least one of the following items: the state information of the target library position, the state information of the target object and the unsatisfied execution condition item.

In a possible implementation manner, after sending the error information to the server, the method further includes:

and controlling the warehousing robot to execute corresponding error handling behaviors according to the scheduling instruction of the server.

In one possible embodiment, the error handling behavior is any one of:

staying at the current position and waiting for indication; moving to a target point; and skipping the current carrying task and executing the next carrying task.

In a possible embodiment, the image data of the target library site is acquired by the image acquisition device, and the image data includes at least one of the following:

acquiring two-dimensional image data of the target library position through a first shooting device; acquiring three-dimensional point cloud data of the target library position through a second shooting device; and collecting the two-dimensional point cloud data of the target library position through a laser radar device.

In a possible embodiment, before the acquiring, by the image acquisition device, the image data of the target library position corresponding to the handling task, the method further includes:

and controlling the warehousing robot to move to the target warehouse location in response to an execution instruction of the carrying task.

Another aspect of the present invention is to provide a control apparatus for a warehousing robot, applied to a warehousing robot, the warehousing robot including a carrying device and an image acquisition device, including:

the data acquisition module is used for acquiring image data of a target library position corresponding to the carrying task through the image acquisition device;

and the control module is used for controlling the conveying device to execute the conveying task if the execution condition of the conveying task is determined to be met according to the image data of the target storage position.

In a possible implementation, the data acquisition module is further configured to:

when the warehousing robot moves to a target position corresponding to the target warehouse location, controlling the image acquisition device to start and acquire image data of the target warehouse location; or when the warehousing robot moves to a preset range around the target storage position, controlling the image acquisition device to start and acquire the image data of the target storage position.

In a possible embodiment, the image capturing device is disposed on the carrying device, and the control module is further configured to:

and controlling the carrying device to align the target library position.

In one possible embodiment, the control module is further configured to:

detecting the image data of the target library position, and determining the state information of the target library position and/or the state information of the target object; and controlling the carrying device to carry out the carrying task if the carrying task is determined to meet the carrying task execution condition according to the state information of the target storage position and/or the state information of the target object.

In one possible embodiment, the status information of the target library location comprises at least one of:

obstacle information on a carrying path of the target storage location; size information of the target library location; whether the target library location is free.

In one possible embodiment, the status information of the target object comprises at least one of:

identity information of the target object; attitude information of the target object; size information of the target object; damage degree information of the target object; and deformation degree information of the target object.

In one possible embodiment, the handling task is a pick task, and the execution condition of the handling task includes at least one of the following:

no obstacle is arranged on the goods taking path of the target storage position; the identity information, the posture information and the size information of the target object meet the goods taking condition; the damage degree of the target object is within a first preset safety threshold range; and the deformation degree of the target object is within a second preset safety threshold range.

In one possible embodiment, the handling task is a put task, and the execution condition of the handling task includes at least one of the following:

the target library position is free; the size of the target storage position meets the stocking condition; and no obstacle is arranged on the goods placing path of the target storage position.

In one possible embodiment, the control module is further configured to:

according to the image data of the target storage position, if the image data do not meet the execution condition of the carrying task, sending error information to a server, wherein the error information comprises at least one of the following items: the state information of the target library position, the state information of the target object and the unsatisfied execution condition item.

In one possible embodiment, the control module is further configured to:

and controlling the warehousing robot to execute corresponding error handling behaviors according to the scheduling instruction of the server.

In one possible embodiment, the error handling behavior is any one of:

staying at the current position and waiting for indication; moving to a target point; and skipping the current carrying task and executing the next carrying task.

In one possible embodiment, the data acquisition module is further configured to perform at least one of:

acquiring two-dimensional image data of the target library position through a first shooting device; acquiring three-dimensional point cloud data of the target library position through a second shooting device; and collecting the two-dimensional point cloud data of the target library position through a laser radar device.

In one possible embodiment, the control module is further configured to control the warehousing robot to move to the target warehouse location in response to an instruction for performing a handling task.

Another aspect of the present invention provides a warehousing robot comprising:

a handling device, an image acquisition device, a processor, a memory, and a computer program stored on the memory and executable on the processor;

when the processor runs the computer program, the control method of the warehousing robot is realized.

Another aspect of the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method for controlling a warehousing robot described above.

According to the control method, the control device, the control equipment and the readable storage medium for the warehousing robot, before the carrying task is executed, the image data of the carrying task corresponding to the target warehouse location are collected through the image collection device, whether the execution condition of the carrying task is met currently is determined according to the image data of the target warehouse location, and when the execution condition of the carrying task is determined to be met, namely the carrying task executed by the carrying device is not dangerous, the carrying device is controlled to execute the carrying task, so that the danger can be avoided, the safety of taking and placing goods is improved, and the probability of goods damage and goods shelf dumping is reduced.

Drawings

Fig. 1 is a flowchart of a method for controlling a warehousing robot according to an embodiment of the present invention;

fig. 2 is a flowchart of a control method of the warehousing robot according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of a control device of a warehousing robot according to a third embodiment of the present invention;

fig. 4 is a schematic structural diagram of a warehousing robot according to a fifth embodiment of the present invention.

With the above figures, certain embodiments of the invention have been illustrated and described in more detail below. The drawings and the description are not intended to limit the scope of the inventive concept in any way, but rather to illustrate it by those skilled in the art with reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.

The terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the following examples, "plurality" means two or more unless specifically limited otherwise.

The invention is particularly applicable to intelligent warehousing systems including warehousing robots, scheduling systems, warehouses and the like, the warehouses including a plurality of warehouse locations for placing objects such as bins, goods and the like. The warehousing robot can replace a worker to carry goods. The scheduling system communicates with the warehousing robot, for example, the scheduling system may issue a transport task to the warehousing robot, the warehousing robot may send status information of task execution to the scheduling system, and the like.

In the existing intelligent storage system, due to the fact that a storage rack vibrates or artificial misoperation and the like can cause a bin to deviate in a storage position or fall off the storage rack, a storage robot can collide with the bin when taking or passing the bin. Therefore, potential safety hazards exist when the storage and taking bin of the storage robot.

The invention provides a control method of a warehousing robot, and aims to solve the technical problems.

The following describes the technical solutions of the present invention and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.