Patent Application
20230183005
The present disclosure relates to the intelligent warehousing field, and in particular, to a robot control method, apparatus, and system, a control device, and a robot.
With continuous development of social trade and continuous progress of science and technology, logistics and warehousing technologies are also continuously improving. How to achieve more efficient logistics and warehousing management becomes a hot issue.
In some warehousing and logistics systems, a robot may carry a goods box that stores goods to a temporary storage shelving unit, and a user performs an operation on the goods box on the temporary storage shelving unit to sort and select required goods from the goods box, which can effectively improve goods sorting/selection efficiency. However, because both the user and the robot perform operations near the temporary storage shelving unit, the robot is likely to come into contact with the user, which may lead to personal injury in severe cases and cause poor safety.
Embodiments of the present disclosure provide a robot control method, apparatus, and system, a control device, and a robot, to resolve a technical problem that safety is poor in a goods handling process.
According to a first aspect, an embodiment of the present disclosure provides a robot control method, applied to a control device, the method including:
In a possible design, the controlling an operation of a robot according to the storage position or the temporary storage shelving unit at which the user performs the operation includes:
In a possible design, the locked shelving unit includes the temporary storage shelving unit at which the user performs the operation; and
In a possible design, the storage position within the preset range around the storage position at which the user performs the operation includes at least one of the following: storage positions in a row to which the storage position at which the user performs the operation belongs; storage positions in a column to which the storage position at which the user performs the operation belongs; and a storage position adjacent to the storage position at which the user performs the operation.
In a possible design, the determining a storage position or a temporary storage shelving unit at which a user performs an operation includes:
In a possible design, the determining, according to the detection information, the storage position or the temporary storage shelving unit at which the user performs the operation includes:
In a possible design, the determining a storage position or a temporary storage shelving unit at which a user performs an operation includes:
In a possible design, the controlling an operation of a robot according to the storage position or the temporary storage shelving unit at which the user performs the operation includes:
In a possible design, the robot includes a protruding mechanism configured to perform an operation on a to-be-handled object; and
In a possible design, in a case that the robot is taking out the to-be-handled object, the controlling the protruding mechanism to retract includes:
In a possible design, in a case that the robot is placing the to-be-handled object, the controlling the protruding mechanism to retract includes:
In a possible design, the controlling an operation of a robot according to the storage position or the temporary storage shelving unit at which the user performs the operation includes:
In a possible design, the controlling an operation of a robot according to the storage position or the temporary storage shelving unit at which the user performs the operation includes:
In a possible design, the method further includes: determining a priority of the another storage position or temporary storage shelving unit according to a distance between the another storage position or temporary storage shelving unit and the robot, to control the robot to perform an operation according to the priority of the another storage position or the another temporary storage shelving unit.
In a possible design, the controlling an operation of a robot according to the storage position or the temporary storage shelving unit at which the user performs the operation includes:
According to a second aspect, an embodiment of the present disclosure provides a robot control method, applied to a robot, the method including:
In a possible design, the avoiding, according to the storage position or the temporary storage shelving unit at which the user performs the operation, performing an operation at the same storage position simultaneously with the user includes:
In a possible design, the locked shelving unit includes the temporary storage shelving unit at which the user performs the operation; and
In a possible design, the storage position within the preset range around the storage position at which the user performs the operation includes at least one of the following: storage positions in a row to which the storage position at which the user performs the operation belongs; storage positions in a column to which the storage position at which the user performs the operation belongs; and a storage position adjacent to the storage position at which the user performs the operation.
In a possible design, the determining a storage position or a temporary storage shelving unit at which a user performs an operation includes:
In a possible design, the determining, according to the detection information, the storage position or the temporary storage shelving unit at which the user performs the operation includes:
In a possible design, the determining a storage position or a temporary storage shelving unit at which a user performs an operation includes:
In a possible design, the avoiding, according to the storage position or the temporary storage shelving unit at which the user performs the operation, performing an operation at the same storage position simultaneously with the user includes:
In a possible design, the robot includes a protruding mechanism configured to perform an operation on a to-be-handled object; and
In a possible design, in a case that the robot is taking out the to-be-handled object, the controlling the protruding mechanism to retract includes:
In a possible design, in a case that the robot is placing the to-be-handled object, the controlling the protruding mechanism to retract includes:
In a possible design, the avoiding, according to the storage position or the temporary storage shelving unit at which the user performs the operation, performing an operation at the same storage position simultaneously with the user includes:
In a possible design, the avoiding, according to the storage position or the temporary storage shelving unit at which the user performs the operation, performing an operation at the same storage position simultaneously with the user includes:
In a possible design, the method further includes: determining a priority of the another storage position or temporary storage shelving unit according to a distance between the another storage position or temporary storage shelving unit and the robot, to perform an operation according to the priority of the another storage position or the another temporary storage shelving unit.
In a possible design, the avoiding, according to the storage position or the temporary storage shelving unit at which the user performs the operation, performing an operation at the same storage position simultaneously with the user includes:
According to a third aspect, an embodiment of the present disclosure provides a robot control apparatus, applied to a control device, the apparatus including:
According to a fourth aspect, an embodiment of the present disclosure provides a robot control apparatus, applied to a robot, the apparatus including:
According to a fifth aspect, an embodiment of the present disclosure provides a control device, including:
According to a sixth aspect, an embodiment of the present disclosure provides a robot, including:
According to a seventh aspect, an embodiment of the present disclosure provides a robot control system, including: a temporary storage shelving unit, a robot, and a control device,
According to an eighth aspect, an embodiment of the present disclosure provides a robot control system, including: a temporary storage shelving unit and a robot,
According to a ninth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, the computer-readable storage medium storing computer-executable instructions, and the method according to any one of the implementations of the first aspect or the second aspect being implemented when a processor executes the computer-executable instructions.
According to a tenth aspect, an embodiment of the present disclosure provides a computer program product, including a computer program, the method according to any one of the implementations of the first aspect or the second aspect being implemented when the computer program is executed.
According to the robot control method, apparatus, and system, the control device, and the robot provided in the embodiments of the present disclosure, a storage position or a temporary storage shelving unit at which a user performs an operation is determined, and an operation of a robot is controlled according to the storage position or the temporary storage shelving unit at which the user performs the operation, so that the robot avoids performing an operation at the same storage position simultaneously with the user. Therefore, cases that a robot comes into contact with a user are reduced, thereby reducing injury caused by a robot to a user to some extent, and effectively improving operation safety. In addition, goods sorting/selection efficiency can also be ensured.
To describe the technical solutions in the embodiments of the present disclosure or in the related art more clearly, the following briefly describes the accompanying drawings required for describing the embodiments or the related art. Apparently, the accompanying drawings in the following descriptions show some embodiments of the present disclosure, and a person of ordinary skill in the art may still derive other drawings from these accompanying drawings without creative efforts.
To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the following clearly and completely describes the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are merely some embodiments of the present disclosure rather than all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.
The technical solutions provided in the embodiments of the present disclosure may be applied to any suitable industry fields or technical fields, for example, the intelligent warehousing field and the intelligent logistics field.
An example application scenario is as follows: In a goods-to-person goods handling process, a robot may carry goods to a user, and the user sorts and selects goods. For example, when processing a stock keeping unit (SKU) order, the robot may carry a goods box that stores related goods from a warehouse to a specific region, and the user sorts and selects goods inside the goods box in the region to complete distribution and stock-out for the SKU order. After the sorting/selection is completed, the goods box may be carried back to the warehouse by the robot.
In this sorting/selection solution, the robot and the user may have three interaction modes: the user directly sorts and selects goods on the body of the robot; the robot places the goods box onto a temporary storage shelving unit, and the user performs sorting/selection on the temporary storage shelving unit; and the robot places the goods box onto a transport line, and the user performs sorting/selection on the transport line.
The human-robot interaction mode based on the temporary storage shelving unit has the following advantages: compared with directly performing sorting/selection on the body of the robot, direct human-robot interaction can be avoided, and therefore safety and operation convenience are better; and compared with the transport line mode, a floor area is smaller, a temporary storage amount of goods boxes is larger, and costs are lower.
However, the human-robot interaction mode based on the temporary storage shelving unit still has a problem: The robot may come into contact with the user, causing injury to the user. In the embodiments of the present disclosure, a robot is prevented from performing an operation at the same storage position simultaneously with a user, to protect the user and improve safety in a goods handling process.
The temporary storage shelving unit 10 includes at least one storage position configured to place a to-be-handled object, and the to-be-handled object includes goods and/or a goods box configured to store goods. The robot 20 is configured to handle the to-be-handled object, and the robot 20 avoids performing an operation at the same storage position simultaneously with the user 30.
The temporary storage shelving unit 10 may refer to a shelving unit configured to temporarily store goods, and may specifically refer to a shelving unit used for the robot 20 and the user 30 to perform operations on goods. The robot 20 may include a carrying robot, a sorting/selection robot, and/or the like. The carrying robot may be configured to carry a goods box. The sorting/selection robot may be configured to sort and select goods in a goods box. Certainly, one robot may have both a carrying function and a sorting/selection function. The user 30 may be a person for handling a to-be-handled object, for example, an operator or a stock-out assistant.
The temporary storage shelving unit 10 may include at least one storage position. In
The placing may mean placing a to-be-handled object into a storage position, for example, placing goods and/or a goods box into a storage position. The taking may mean taking out a to-be-handled object from a storage position, for example, taking out goods and/or a goods box. The sorting/selection means sorting and selecting to-be-handled objects at a storage position, and may particularly mean sorting and selecting goods in a goods box to select goods corresponding to an order. The packaging may mean packaging a to-be-handled object at a storage position, and may particularly mean packaging a goods box. For example, after goods corresponding to an order are sorted and selected to a goods box, the goods box may be packaged, to facilitate subsequent stock-out.
In an example, the robot 20 may take out a goods box containing goods from a warehouse, carry the goods box to the temporary storage shelving unit 10, and place the goods box at a storage position on the temporary storage shelving unit 10, and then the user 30 performs sorting and selection in the goods box at the storage position to select goods corresponding to an order from the goods box. After sorting/selection is completed, the robot 20 then carries the goods box back to the warehouse.
In another optional manner, a specific handling process of goods may be alternatively adjusted according to actual needs. For example, the robot 20 may carry goods instead of a goods box to the temporary storage shelving unit 10 and place the goods at a storage position; or the robot 20 may sort and select goods in place of the user 30; or after sorting/selection is completed, the user 30 may carry the goods box back to the warehouse. This is not limited in this embodiment.
In a goods handling process, the control device 40 may control the robot 20 to avoid performing an operation at the same storage position simultaneously with the user 30. For example, when the user 30 starts to perform an operation at a specific storage position, the robot 20 may be controlled to stop performing an operation at the storage position, to provide safety protection for the user 30 to some extent and improve operation safety. In addition, goods sorting/selection efficiency can also be ensured.
As shown in
Some implementations of the present disclosure are described in detail below with reference to the accompanying drawings. The following embodiments and features in the embodiments may be mutually combined in case that no conflict occurs between the embodiments.
Step 301: Determine a storage position or a temporary storage shelving unit at which a user performs an operation.
In this embodiment, a storage position or a temporary storage shelving unit at which a user performs an operation may be detected in a plurality of manners.
In an optional implementation, a storage position or a temporary storage shelving unit at which a user performs an operation may be detected by using a detection device. The detection device is configured to detect a storage position or a temporary storage shelving unit at which a user performs an operation, and send detected information to the control device.
Correspondingly, the determining a storage position or a temporary storage shelving unit at which a user performs an operation in this step may include: acquiring detection information sent by a detection device, and determining, according to the detection information, the storage position or the temporary storage shelving unit at which the user performs the operation.
The detection device may include but is not limited to at least one of the following: a pressure sensor, a laser radar sensor, an infrared sensor, a visual acquisition device, and a grating sensor.
Optionally, the determining, according to the detection information, the storage position or the temporary storage shelving unit at which the user performs the operation may include: when it is determined, according to the detection information, that the user appears within a preset range around a temporary storage shelving unit, determining that the user is performing an operation at the temporary storage shelving unit; and/or when it is determined, according to the detection information, that an arm of the user stretches into a storage position or a distance between an arm of the user and a storage position is less than a preset value, determining that the user is performing an operation at the storage position.
In an example, a pressure sensor may be arranged on the ground around a temporary storage shelving unit. If a user enters the surrounding of the temporary storage shelving unit, the pressure sensor may detect a corresponding signal, to determine a temporary storage shelving unit at which the user performs an operation. This solution is simple and easy to implement.
In another example, a laser radar sensor or an infrared sensor may be arranged around a temporary storage shelving unit. When someone is close, the laser radar sensor or the infrared sensor may detect a corresponding signal, to determine a temporary storage shelving unit at which a user performs an operation. Detection efficiency and accuracy are both high.
In still another example, a visual acquisition device such as camera may be arranged around a temporary storage shelving unit. There may be one or more cameras. The camera may be a common camera, a 3D camera, or the like. An image of a user may be acquired by the one or more cameras, to analyze a temporary storage shelving unit or a storage position at which the user performs an operation. Accuracy is high.
In yet another example, a plurality of grating sensors may be arranged in a temporary storage shelving unit. The grating sensors detect whether an arm of a user stretches into a storage position or whether a distance between an arm of a user and a storage position is less than a preset value, to determine a storage position at which the user performs an operation. This can quickly and accurately determine a storage position at which a user performs an operation, improve detection accuracy, and effectively ensure normal operating of a system.
In another optional implementation, the control device may determine, directly by using an input of the user, the temporary storage shelving unit or the storage position at which the user performs the operation. Specifically, the determining a storage position or a temporary storage shelving unit at which a user performs an operation in this step may include: acquiring operation information input by the user, and determining, according to the operation information, the temporary storage shelving unit or the storage position at which the user performs the operation.
For example, the control device may be a mobile phone carried by the user, and the operation information input by the user may include identification information of the temporary storage shelving unit or the storage position at which the operation is performed. Alternatively, the control device may be a processing terminal arranged beside the temporary storage shelving unit. After the user is close to the temporary storage shelving unit, the user directly presses a corresponding button on the processing terminal, and the processing terminal may determine, according to the button pressed by the user, the temporary storage shelving unit or the storage position at which the user performs the operation.
After determining the temporary storage shelving unit or the storage position at which the user performs the operation, the control device may control a robot according to the temporary storage shelving unit or the storage position at which the user performs the operation.
The operation information input by the user is acquired, so that the temporary storage shelving unit or the storage position at which the user performs the operation can be accurately determined, thereby meeting a work requirement of the user.
Step 302: Control an operation of a robot according to the storage position or the temporary storage shelving unit at which the user performs the operation, so that the robot avoids performing an operation at the same storage position simultaneously with the user.
In this embodiment, there may be a plurality of specific implementations of avoiding, by the robot, performing an operation at the same storage position simultaneously with the user. Specifically, the robot may only avoid performing an operation at a storage position at which the user is performing an operation, or may avoid performing an operation at a storage position at which the user is performing an operation and a surrounding storage position.
For example, because a temporary storage shelving unit includes a storage position, the robot may avoid performing an operation at the same temporary storage shelving unit simultaneously with the user, thereby avoiding performing an operation at the same storage position simultaneously with the user.
According to the robot control method provided in this embodiment, a storage position or a temporary storage shelving unit at which a user performs an operation is determined, and an operation of a robot is controlled according to the storage position or the temporary storage shelving unit at which the user performs the operation, so that the robot avoids performing an operation at the same storage position simultaneously with the user. This can reduce cases that a robot comes into contact with a user, thereby reducing injury caused by a robot to a user to some extent, and effectively improving operation safety. In addition, goods sorting/selection efficiency can also be ensured.
Step 401: Determine a storage position or a temporary storage shelving unit at which a user performs an operation.
For a specific implementation principle and process of step 401 in this embodiment, reference may be made to the foregoing embodiment. Details are not described herein again.
Step 402: Determine a locked storage position or a locked shelving unit according to the storage position or the temporary storage shelving unit at which the user performs the operation.
Step 403: Control an operation of a robot according to the locked storage position or the locked shelving unit, so that the robot avoids performing an operation at the same storage position simultaneously with the user.
In this embodiment, in step 402 and step 403, the operation of the robot can be controlled according to the storage position or the temporary storage shelving unit at which the user performs the operation, so that the robot avoids performing an operation at the same storage position simultaneously with the user.
Optionally, the locked shelving unit may include the temporary storage shelving unit at which the user performs the operation. The locked storage position may include the storage position at which the user performs the operation. Alternatively, in another optional implementation, the locked storage position may include the storage position at which the user performs the operation and a storage position within a preset range around the storage position at which the user performs the operation.
In an example, the robot may avoid performing an operation at a locked shelving unit, to avoid performing an operation at the same storage position simultaneously with the user. For example, when the user performs an operation at the shelving unit A, the shelving unit A is considered as a locked shelving unit. The robot avoids performing an operation at the shelving unit A, and may perform an operation at the shelving unit B or perform no operation, thereby avoiding performing an operation at the same shelving unit simultaneously with the user.
In another example, the robot may avoid performing an operation at a locked storage position, to avoid performing an operation at the same storage position simultaneously with the user. For example, when the user performs an operation at the storage position A4, the storage position A4 is considered as a locked storage position. The robot avoids performing an operation at the storage position A4, and may perform an operation at the other eight storage positions of the shelving unit A or perform an operation at all the storage positions of the shelving unit B.
As described above, the locked storage position may further include the storage position within the preset range around the storage position at which the user performs the operation. The preset range may be selected according to actual needs.
Optionally, the storage position within the preset range around the storage position at which the user performs the operation may include at least one of the following: storage positions in a row to which the storage position at which the user performs the operation belongs; storage positions in a column to which the storage position at which the user performs the operation belongs; and a storage position adjacent to the storage position at which the user performs the operation.
In an example, a current storage position at which the user performs an operation is A4, a column to which A4 belongs, that is, A1, A4, and A7, may be all used as locked storage positions. In actual application, when a person stands in front of the storage position A4 to perform an operation, the body may be close to the storage positions A1 and A7. Therefore, storage positions in the column to which A4 belongs may be all used as locked storage positions, to avoid an operation by the robot.
In another example, a current storage position at which the user performs an operation is A4, a row to which A4 belongs, that is, A4, A5, and A6, may be all used as locked storage positions. In actual application, if the user performs an operation at A4 and the robot performs an operation at A5, a protruding mechanism of the robot, for example, a robotic arm or a pallet fork, may overreach to the storage position A4 in case of a slight deviation, or an arm of the user may accidentally stretch into the storage position A5. Especially for a shelving unit at which there is no baffle plate between storage positions in the same row, the robot and the user are more likely to perform operations at storage positions in the same row, causing injury to the user. Therefore, the robot may be prohibited from performing an operation at a storage position in the same row.
In still another example, the robot may be prohibited from performing an operation at a storage position adjacent to the storage position at which the user performs the operation. The being adjacent may mean being adjacent in four directions (up, down, left, and right), being adjacent in eight directions (up, down, left, right, upper left, lower left, upper right, and lower right), or the like. The being adjacent in four directions is used as an example. When the user performs an operation at A4, A1, A4, A5, and A7 may be all used as locked storage positions, to prohibit an operation by the robot.
For the foregoing locked storage position and locked shelving unit, the term “locked” is intended to indicate that the robot is prohibited from performing an operation at the storage position and the shelving unit, but does not necessarily require that an action of locking the storage position or the shelving unit be performed. Certainly, an operation of locking the storage position or the shelving unit may be alternatively performed. For example, a status value of the storage position or the shelving unit is changed, or a mechanism for prohibiting the robot from approaching is arranged at the storage position or the shelving unit.
According to the robot control method provided in this embodiment, after a storage position or a temporary storage shelving unit at which a user performs an operation is determined, a locked storage position or a locked shelving unit may be determined according to the storage position or the temporary storage shelving unit at which the user performs the operation, and an operation of a robot is controlled according to the locked storage position or the locked shelving unit, to prevent the robot and the user from simultaneously performing operations at the same storage position. This can quickly and accurately control the robot, and ensure safety of the user.
Based on the technical solution provided in the foregoing embodiment, optionally, there may be a plurality of implementations of controlling the robot to avoid performing an operation at the same storage position or the same temporary storage shelving unit simultaneously with the user. In this embodiment, there may be a plurality of implementations, for example, controlling the robot to stop an operation, perform an operation at another storage position, or wait and then perform an operation. This is separately described below.
In an optional implementation, the controlling an operation of a robot according to the storage position or the temporary storage shelving unit at which the user performs the operation may include: when the robot is performing an operation at a storage position or a temporary storage shelving unit, if it is detected that the user starts to perform an operation at the storage position or the temporary storage shelving unit, controlling the robot to stop performing the operation at the storage position or the temporary storage shelving unit.
For example, when an operation is performed at the storage position Al, if it is detected that the user starts to perform an operation at the storage position Al, the robot is controlled to stop performing an operation at the storage position Al, to eliminate a safety hazard of injury to the user. This has simple logic, and is easy to implement and effective.
The robot may include a protruding mechanism configured to perform an operation on a to-be-handled object, for example, a pallet fork or a robotic arm, and the controlling the robot to stop performing the operation at the storage position or the temporary storage shelving unit may specifically include: canceling an operation performed by the robot at a current storage position or temporary storage shelving unit, and if the protruding mechanism has stretched into the storage position or the temporary storage shelving unit, controlling the protruding mechanism to retract or stop.
Optionally, in a case that the robot is taking out the to-be-handled object, the controlling the protruding mechanism to retract may include: controlling the protruding mechanism to retract if the protruding mechanism fails to drag the to-be-handled object; and/or controlling the protruding mechanism to take out the to-be-handled object if the protruding mechanism successfully drags the to-be-handled object.
Optionally, in a case that the robot is placing the to-be-handled object, the controlling the protruding mechanism to retract may include: controlling the robot to take back the to-be-handled object if the protruding mechanism does not place the to-be-handled object steadily; and/or controlling the protruding mechanism to retract if the protruding mechanism has placed the to-be-handled object steadily.
In the foregoing solution, different situations during goods picking/placing can be distinguished. If goods cannot be taken out or placed immediately, the protruding mechanism quickly retracts, to stop an operation at a storage position or a temporary storage shelving unit in a timely manner, thereby improving operation safety of the user. If most work of goods picking or goods placing is completed, the entire goods picking or goods placing operation may continue to be completed, thereby improving operation efficiency while ensuring safety.
In another optional implementation, the controlling an operation of a robot according to the storage position or the temporary storage shelving unit at which the user performs the operation may include: if it is detected that the user starts to perform an operation at a second storage position on the temporary storage shelving unit when the robot is performing an operation at a first storage position on a temporary storage shelving unit, controlling the robot to stop performing the operation at the temporary storage shelving unit after completing the operation at the first storage position.
In still another optional implementation, the controlling an operation of a robot according to the storage position or the temporary storage shelving unit at which the user performs the operation may include: when the user is performing an operation at the storage position or the temporary storage shelving unit, controlling the robot to perform an operation at another storage position other than the storage position at which the user performs the operation, or controlling the robot to perform an operation at another temporary storage shelving unit other than the temporary storage shelving unit at which the user performs the operation.
For example, when the user performs an operation at the storage position A1, the robot may perform an operation at another storage position, for example, the storage position A2, to avoid performing an operation at the same storage position simultaneously with the user. For another example, when the user performs an operation at the shelving unit A, the robot may perform an operation at another temporary storage shelving unit, for example, the shelving unit B, to avoid performing an operation at the same temporary storage shelving unit simultaneously with the user. This can improve operation safety of the user, and can also reduce a time in which the robot is in an idle state, thereby improving goods handling efficiency.
Further, the control device may further determine a priority of the another storage position or temporary storage shelving unit according to a distance between the another storage position or temporary storage shelving unit and the robot, to control the robot to perform an operation according to the priority of the another storage position or the another temporary storage shelving unit.
Specifically, the priority of the another storage position or temporary storage shelving unit is determined according to the distance between the another storage position or temporary storage shelving unit and the robot. A shorter distance indicates a higher priority. The robot may perform an operation at the another storage position or temporary storage shelving unit according to the priority.
For example, when the robot performs an operation at the shelving unit A, the user approaches the shelving unit A and starts to perform an operation at the shelving unit A. In this case, the robot may give up the shelving unit A and start to perform an operation at another temporary storage shelving unit. Assuming that the robot is currently closest to the shelving unit B among other temporary storage shelving units, the robot may preferentially perform an operation at the shelving unit B. If there is no handling task at the shelving unit B, for example, there is no goods to be picked and there is no storage position for placing goods either, the robot may continue to move to a temporary storage shelving unit at the next priority to perform a handling task.
In the foregoing solution, the robot may preferentially perform an operation at an adjacent storage position or temporary storage shelving unit, so that goods handling efficiency can be effectively improved.
In still another optional implementation, the controlling an operation of a robot according to the storage position or the temporary storage shelving unit at which the user performs the operation may include: controlling the robot to wait until the operation performed by the user at the storage position or the temporary storage shelving unit is completed and then perform an operation at the storage position or the temporary storage shelving unit.
For example, when the user performs an operation at the shelving unit A, the robot may wait nearby, and after the user completes the operation, perform an operation at the shelving unit A. Control logic is simple, and is not likely to have an error.
In addition, alternatively, the user may actively choose to avoid performing an operation at the same temporary storage shelving unit or the same storage position with the robot. For example, when the user enters a region in which a temporary storage shelving unit is arranged, if the robot is performing an operation at a specific temporary storage shelving unit or a specific storage position, the user may actively choose to perform an operation at another temporary storage shelving unit or storage position, to avoid being excessively close to the robot and getting hurt.
In the technical solutions provided in the foregoing embodiments, the robot may be configured to avoid performing an operation at the same temporary storage shelving unit simultaneously with the user, or the robot may be configured to avoid performing an operation at the same storage position simultaneously with the user. A person skilled in the art may set a specific operation process of the robot according to actual needs. Two examples are provided below: a ping-pong operation and a storage position locking operation.
For example, the robot receives a goods picking/placing instruction and moves to the shelving unit A. When the robot performs a goods picking/placing operation, if a user enters a region around the shelving unit A, the robot determines that the user starts to perform an operation at the shelving unit A, and the robot stops the goods picking/placing operation.
Whether a user enters the region around the shelving unit A may be detected by using a detection device arranged on the shelving unit A or a detection device around the shelving unit A. For example, a pressure sensor, a laser radar scanner, or a 3D camera monitor may be arranged on the ground to determine whether someone is close, so as to determine whether there is a user performing an operation at the shelving unit A. Alternatively, after a user is close to the shelving unit A, the user may press a corresponding button, so that the control device can determine that the user is to start to perform an operation at the shelving unit A.
The stopping the goods picking/placing operation by the robot may include: if a to-be-stopped operation is a goods picking operation, stopping picking goods, and if a protruding mechanism has entered a temporary storage shelving unit to pick goods but has not successfully dragged a goods box, retracting the protruding mechanism, where the robot leaves or waits still, and after the robot leaves, the robot may move to a new temporary storage shelving unit to perform an operation according to a task allocated by a system; or if a to-be-stopped operation is a goods placing operation, canceling the goods placing operation, and if the protruding mechanism has stretched into a temporary storage shelving unit, taking back a goods box or stopping.
In addition, if it is detected that the user starts to perform an operation at a second storage position on the temporary storage shelving unit when the robot is performing an operation at a first storage position on a temporary storage shelving unit, the robot may stop performing the operation at the temporary storage shelving unit after completing the operation at the first storage position.
Specifically, if it is detected, by using a detection apparatus such as a grating sensor, that a human hand has stretched into a temporary storage shelving unit to perform an operation but has not entered a storage position at which the robot performs an operation, the robot continues to complete a goods picking/placing operation at the storage position, and may leave a current temporary storage shelving unit after completing the operation.
In a process of the ping-pong operation, after the goods picking/placing operation of the robot is hindered at the shelving unit A, the goods picking/placing operation is preferentially arranged to be performed at the adjacent shelving unit B. The robot moves to another temporary storage shelving unit to perform an operation only if there is no vacant storage position at the shelving unit B for storing a goods box or there is no goods box to be taken out.
In a service process of a box-type goods-to-person workstation, two temporary storage shelving units may be configured for each workstation. A robot and a user do not simultaneously perform operations at the same temporary storage shelving unit. That is, a manual operation is performed at one shelving unit, and the robot picks and places goods at the other shelving unit. After the manual operation is completed, the user and the robot exchange operation positions, to perform operations cyclically in this manner. This avoids a possibility of human-robot contact in physical space, thereby improving operation safety of the user.
A specific implementation solution of the ping-pong operation is described above, which can enable a robot to avoid performing an operation at a locked shelving unit. A solution for a locked storage position is similar, and is described below.
In the foregoing the solution, when a robot performs an operation at a specific storage position, a user may actively choose not to perform an operation at the same storage position with the robot. However, in case of a human error, it is still possible that the user and the robot perform operations at the same storage position. In this case, a dynamic status of the user performing the operation at the storage position may be detected to avoid a problem.
When it is detected that a human hand enters a specific storage position, for example, the storage position A7, at the shelving unit A, if there is no robot performing a goods picking/placing operation in this storage position, the storage position A7 is locked, and a robot cannot enter the storage position A7 to perform an operation, but preferentially performs a goods picking/placing operation at another storage position, for example, A8, at the shelving unit A. During a goods picking operation, if there is no to-be-picked goods box at the another storage position, the robot may move to another temporary storage shelving unit or perform another task. During a goods placing operation if the shelving unit A has no vacant storage position, the robot may move to another temporary storage shelving unit to place goods, or place goods in another target position.
When it is detected that a human hand enters a specific storage position, for example, the storage position A7, at the shelving unit A, if there is a robot performing a goods picking/placing operation at the storage position A7, the robot may stop the goods picking/placing operation. In case of a goods picking operation, if a protruding mechanism has entered a temporary storage shelving unit to pick goods but has not successfully dragged a goods box, the protruding mechanism may be retracted from the shelving unit A, and the robot leaves or waits still. In case of a goods placing operation, the goods placing operation may be canceled. If the protruding mechanism has stretched into the storage position A7, a goods box is taken back, and the robot leaves or waits still.
In a service process of a box-type goods-to-person workstation, any number of temporary storage shelving units may be configured for each workstation. A robot and a user can simultaneously perform operations at one temporary storage shelving unit, but cannot perform operations at the same storage position. In this solution, a robot and a user can perform operations at the same temporary storage shelving unit. Therefore, an occupied area of a workstation is smaller, a person moves less, utilization of a storage position of a temporary storage shelving unit is higher, the number of shelving units required in a goods handling process is reduced, and costs are lower.
Based on the technical solutions provided in the foregoing embodiments, optionally, one side of the temporary storage shelving unit is used for the user to perform an operation, and the other side is used for the robot to perform an operation. A protection apparatus used for preventing the robot from coming into contact with the user is arranged on the side, of the temporary storage shelving unit, that is used for the user to perform an operation.
For details, refer to
A specific shape, size, and structure of the protection apparatus may be set according to actual needs. Optionally, the protection apparatus may be a protection plate or the like. The protection plate may include at least one horizontal sheet metal and/or at least one vertical sheet metal. A horizontal direction refers to a length direction of the shelving unit, and a vertical direction refers to a height direction of the shelving unit.
Optionally, a width of a storage position of the temporary storage shelving unit may be the same as a depth of a goods box. The width may refer to a length of the temporary storage shelving unit in a front-back direction, and the front-back direction refers to a corresponding front-back direction when the user performs an operation at the temporary storage shelving unit. A horizontal sheet metal and a vertical sheet metal may be arranged on a side, of the temporary storage shelving unit, that faces the user. Sizes of the sheet metals may be set according to statuses of the shelving unit and the storage position. For example, a width of the horizontal sheet metal may be 100 mm, a height may be 5 mm, and a length may be the same as a length of the shelving unit, to provide a safety spacing for the robot and the user to perform operations. The safety spacing is greater than a distance from the farthest end after a protruding mechanism of the robot stretches into the storage position.
In actual application, due to existence of the sheet metals, an actual width of the temporary storage shelving unit increases. When the robot picks and places goods by using a pallet fork, after the pallet fork stretches into a storage position, a finger end of the pallet fork does not exceed the width of the shelving unit after the pallet fork extends to the maximum length, to prevent contact with the user. In addition, in the storage position locking solution, when it is monitored that the user performs an operation at a storage position, space is left for the system to control the robot to stop an operation.
In the solution of goods handling based on a locked storage position, the foregoing protection apparatus may be especially added to prevent a risk of collision with the protruding mechanism of robot during operation by the user, to eliminate safety hazards, and further improve operation safety.
Based on the technical solutions provided in the foregoing embodiments, optionally, some or all of the processes performed by the control device may be alternatively performed by the robot. For example, the robot may autonomously determine how to perform an operation at a temporary storage shelving unit or a storage position, to avoid the user.
In the scenario shown in
Step 901: Determine a storage position or a temporary storage shelving unit at which a user performs an operation.
Step 902: Avoid, according to the storage position or the temporary storage shelving unit at which the user performs the operation, performing an operation at the same storage position simultaneously with the user.
In an optional implementation, the avoiding, according to the storage position or the temporary storage shelving unit at which the user performs the operation, performing an operation at the same storage position simultaneously with the user includes:
In an optional implementation, the determining a storage position or a temporary storage shelving unit at which a user performs an operation includes:
In an optional implementation, the determining, according to the detection information, the storage position or the temporary storage shelving unit at which the user performs the operation includes:
In an optional implementation, the determining a storage position or a temporary storage shelving unit at which a user performs an operation includes:
In an optional implementation, the avoiding, according to the storage position or the temporary storage shelving unit at which the user performs the operation, performing an operation at the same storage position simultaneously with the user includes:
In an optional implementation, the robot includes a protruding mechanism configured to perform an operation on a to-be-handled object; and
In an optional implementation, in a case that the robot is taking out the to-be-handled object, the controlling the protruding mechanism to retract includes:
In an optional implementation, in a case that the robot is placing the to-be-handled object, the controlling the protruding mechanism to retract includes:
In an optional implementation, the avoiding, according to the storage position or the temporary storage shelving unit at which the user performs the operation, performing an operation at the same storage position simultaneously with the user includes:
In an optional implementation, the avoiding, according to the storage position or the temporary storage shelving unit at which the user performs the operation, performing an operation at the same storage position simultaneously with the user includes:
In an optional implementation, the method further includes:
In an optional implementation, the avoiding, according to the storage position or the temporary storage shelving unit at which the user performs the operation, performing an operation at the same storage position simultaneously with the user includes:
For specific implementation principles and processes of the steps in the robot control method of this embodiment, reference may be made to the foregoing embodiments. Details are not described herein again.
According to the robot control method provided in this embodiment, a storage position or a temporary storage shelving unit at which a user performs an operation may be determined, and a robot avoids, according to the storage position or the temporary storage shelving unit at which the user performs the operation, performing an operation at the same storage position simultaneously with the user. Therefore, cases that a robot comes into contact with a user are reduced, thereby reducing injury caused by a robot to a user to some extent, and effectively improving operation safety. In addition, goods sorting/selection efficiency can also be ensured.
In an optional implementation, the control module 1002 is specifically configured to:
In an optional implementation, the locked shelving unit includes the temporary storage shelving unit at which the user performs the operation; and
In an optional implementation, the storage position within the preset range around the storage position at which the user performs the operation includes at least one of the following: storage positions in a row to which the storage position at which the user performs the operation belongs; storage positions in a column to which the storage position at which the user performs the operation belongs; and a storage position adjacent to the storage position at which the user performs the operation.
In an optional implementation, the first determining module 1001 is specifically configured to:
In an optional implementation, the first determining module 1001 is specifically configured to:
In an optional implementation, the first determining module 1001 is specifically configured to:
In an optional implementation, the control module 1002 is specifically configured to:
In an optional implementation, the robot includes a protruding mechanism configured to perform an operation on a to-be-handled object; and
In an optional implementation, in a case that the robot is taking out the to-be-handled object, when controlling the protruding mechanism to retract, the control module 1002 is specifically configured to:
In an optional implementation, in a case that the robot is placing the to-be-handled object, when controlling the protruding mechanism to retract, the control module 1002 is specifically configured to:
In an optional implementation, the control module 1002 is specifically configured to:
In an optional implementation, the control module 1002 is specifically configured to:
In an optional implementation, the control module 1002 is further configured to:
In an optional implementation, the control module 100 is specifically configured to:
The apparatus provided in this embodiment may be configured to perform the technical solution in the method embodiment shown in
In an optional implementation, the processing module 1102 is specifically configured to:
In an optional implementation, the locked shelving unit includes the temporary storage shelving unit at which the user performs the operation; and
In an optional implementation, the storage position within the preset range around the storage position at which the user performs the operation includes at least one of the following: storage positions in a row to which the storage position at which the user performs the operation belongs; storage positions in a column to which the storage position at which the user performs the operation belongs; and a storage position adjacent to the storage position at which the user performs the operation.
In an optional implementation, the second determining module 1101 is specifically configured to:
In an optional implementation, the second determining module 1101 is specifically configured to:
In an optional implementation, the second determining module 1101 is specifically configured to:
In an optional implementation, the processing module 1102 is specifically configured to:
In an optional implementation, the robot includes a protruding mechanism configured to perform an operation on a to-be-handled object; and
In an optional implementation, in a case that the robot is taking out the to-be-handled object, when controlling the protruding mechanism to retract, the processing module 1102 is specifically configured to:
In an optional implementation, in a case that the robot is placing the to-be-handled object, when controlling the protruding mechanism to retract, the processing module 1102 is specifically configured to:
In an optional implementation, the processing module 1102 is specifically configured to:
In an optional implementation, the processing module 1102 is specifically configured to:
In an optional implementation, the processing module 1102 is further configured to:
In an optional implementation, the processing module 1102 is specifically configured to:
The apparatus provided in this embodiment may be configured to perform the technical solution in the method embodiment shown in
Optionally, the memory 1202 may be independent or may be integrated with the processor 1201.
For a specific implementation principle and technical effect of the control device provided in this embodiment, reference may be made to the foregoing embodiments. Details are not described herein again.
Optionally, the memory 1302 may be independent or may be integrated with the processor 1301.
For an implementation principle and a technical effect of the robot provided in this embodiment, reference may be made to the foregoing embodiments. Details are not described herein again.
In addition, an embodiment of the present disclosure provides a robot control system, including: a temporary storage shelving unit, a robot, and a control device. The temporary storage shelving unit includes at least one storage position configured to place a to-be-handled object. The control device is configured to perform the method corresponding to the embodiment shown in
An embodiment of the present disclosure further provides a robot control system, including: a temporary storage shelving unit and a robot. The temporary storage shelving unit includes at least one storage position configured to place a to-be-handled object. The robot is configured to perform the method corresponding to the embodiment shown in
For an implementation principle and a technical effect of the robot control system provided in this embodiment of the present disclosure, reference may be made to the foregoing embodiments. Details are not described herein again.
In addition, the robot may further include another component capable of assisting in the implementation of a goods handling function. Optionally, the robot may include at least one of the following: a walking apparatus, a lifting apparatus, a tray, and the like. The walking apparatus is configured to implement movement of the robot, so that the robot can move back and forth between a warehouse and a temporary storage shelving unit, or move between temporary storage shelving units. The lifting apparatus may drive the protruding mechanism up or down, so that the protruding mechanism reaches an appropriate height. The tray may be configured to place a goods box, so that the robot can move while carrying the goods box, so as to implement a goods box carrying function.
An embodiment of the present disclosure further provides a computer-readable storage medium, the computer-readable storage medium storing computer-executable instructions, and the method according to any one of the foregoing embodiments being implemented when a processor executes the computer-executable instructions.
An embodiment of the present disclosure further provides a computer program product, including a computer program, the method according to any one of the foregoing embodiments being implemented when the computer program is executed.
In the several embodiments provided in the present disclosure, it should be understood that the disclosed device and method may be implemented in other manners. For example, the device embodiments described above are merely exemplary. For example, module division is merely logical function division and may be other division in actual implementation. For example, a plurality of modules may be combined or integrated into another system, or some features may be ignored or not performed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections may be implemented by using some interfaces. The indirect couplings or communication connections between the apparatuses or modules may be electrical, mechanical, or in other forms.
The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, and may be located in one place or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to implement the solutions of the embodiments.
In addition, functional modules in the embodiments of the present disclosure may be integrated into one processing unit, or the modules may exist alone physically, or two or more modules may be integrated into one unit. The unit into which the modules are integrated may be implemented in a form of hardware, or may be implemented in a form of hardware in combination with a software functional unit.
The integrated module implemented in a form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium, and includes several instructions for enabling a computer device (which may be a personal computer, a server, a network device, or the like) or a processor to perform some of the steps of the methods described in the embodiments of the present disclosure.
It should be understood that the processor may be a central processing unit (CPU), or may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), or the like. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor or the like. The steps of the methods disclosed with reference to the present invention may be directly performed and completed by using a hardware processor, or may be performed and completed by using a combination of hardware and software modules in the processor.
The memory may include a high-speed RAM memory, and may also include a non-volatile memory (NVM), for example, at least one disk memory, or may be a USB flash drive, a removable hard disk, a read-only memory, a magnetic disk, an optical disc, or the like.
A bus may be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus, an extended industry standard architecture (EISA), or the like. The bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of representation, the bus in the accompanying drawings of the present disclosure is not limited to one bus or one type of bus.
The storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, for example, a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic memory, a flash memory, a magnetic disk, or an optical disc. The storage medium may be any available medium accessible to a general-purpose or dedicated computer.
For example, a storage medium is coupled to a processor, so that the processor can read information from the storage medium or write information into the storage medium. Certainly, the storage medium may be alternatively a component of the processor. The processor and the storage medium may be located in an application-specific integrated circuit (ASIC). Certainly, the processor and the storage medium may alternatively exist in an electronic device or a main control device as discrete components.
A person of ordinary skill in the art can understand that all or some of the steps of the method embodiments may be implemented by a program instructing relevant hardware. The program may be stored in a computer-readable storage medium. When the program is executed, the steps of the method embodiments are performed. The foregoing storage medium includes any medium that can store program code, such as a ROM, a RAM, a magnetic disk, or an optical disc.
Finally, it should be noted that the foregoing embodiments are merely used for describing the technical solutions of the present disclosure, but are not intended to limit the present disclosure. Although the present disclosure is described in detail with reference to the foregoing embodiments, a person of ordinary skill in the art should understand that modifications may still be made to the technical solutions described in the foregoing embodiments, or equivalent replacements may be made to some or all of the technical features, and these modifications or replacements do not cause the essence of corresponding technical solutions to depart from the scope of the technical solutions in the embodiments of the present disclosure.
| Number | Date | Country | Kind |
|---|---|---|---|
| 202010791635.3 | Aug 2020 | CN | national |
The present disclosure is a continuation of International Patent Application No. PCT/CN2021/107013 filed on Jul. 19, 2021, which claims priority to Chinese Patent Application No. 202010791635.3, filed with the China National Intellectual Property Administration on Aug. 7, 2020 and entitled “ROBOT CONTROL METHOD, APPARATUS, AND SYSTEM, CONTROL DEVICE, AND ROBOT”, which is incorporated herein by reference in its entirety.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/CN2021/107013 | Jul 2021 | US |
| Child | 18164768 | US |
