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WO2019047018A1 - Procédé, système, robot et appareil de stockage pour transporter automatiquement un colis - Google Patents

Procédé, système, robot et appareil de stockage pour transporter automatiquement un colis Download PDF

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Publication number
WO2019047018A1
WO2019047018A1 PCT/CN2017/100534 CN2017100534W WO2019047018A1 WO 2019047018 A1 WO2019047018 A1 WO 2019047018A1 CN 2017100534 W CN2017100534 W CN 2017100534W WO 2019047018 A1 WO2019047018 A1 WO 2019047018A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
package
delivered
control center
receiving port
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/100534
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English (en)
Chinese (zh)
Inventor
张�浩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Dorabot Robotics Co Ltd
Original Assignee
Shenzhen Dorabot Robotics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Dorabot Robotics Co Ltd filed Critical Shenzhen Dorabot Robotics Co Ltd
Priority to CN201780004326.3A priority Critical patent/CN108401423B/zh
Priority to PCT/CN2017/100534 priority patent/WO2019047018A1/fr
Publication of WO2019047018A1 publication Critical patent/WO2019047018A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution

Definitions

  • the invention relates to the field of robot technology, and in particular to a method, a system, a robot and a storage device for automatically conveying a package.
  • the technical problem to be solved by the present invention is to provide a method, a system, a robot and a storage device for automatically conveying a package, which can solve the problems of high labor cost of transmission sorting, high configuration cost, and easy waste of resources.
  • the first technical solution adopted by the present invention is to provide a method for automatically conveying a package, comprising: acquiring, by the robot, at least one package to be transported from the receiving port; and acquiring a target sorting site of the package to be transported; Obtaining a planned path from the current location to the target sorting location; according to the planned routing, when there is an obstacle in the traveling process, the planned routing path is updated; the traveling to the target sorting ground is performed, and the package to be delivered is removed.
  • the second technical solution adopted by the present invention is to provide a device having a storage function, which stores a program, and when the program is executed, implements the method as described above.
  • the third technical solution adopted by the present invention is to provide a robot including: a memory and a processor communicably connected to each other, and a processor calls a program of the memory for implementing the method as described above. .
  • the fourth technical solution adopted by the present invention is to provide a system for automatically conveying a package, comprising at least the robot as described above.
  • the robot acquires at least one package to be transported from the receiving port; acquires the target sorting land of the package to be transported; and obtains the current position to the target point
  • the planned route of the ground picking according to the planned path, when there is an obstacle in the traveling process, the planning path is updated; the traveling to the target sorting ground, the package to be transported is removed, and the robot can automatically complete the obtaining of the parcel to the transport parcel to
  • the entire process of sorting the target reduces the components of manual participation and reduces the labor cost.
  • the robot does not have the problem of physical exertion, and can work for a long time, thereby improving the efficiency of conveying the package.
  • the robot can sort the route according to the target of the package, and can also increase and decrease the number of robots according to the target sorting land and the number of packages. There is no problem of high equipment cost or waste of resources when the traditional sorting adopts the conveyor belt.
  • FIG. 1 is a schematic flow chart of a first embodiment of a method for automatically conveying a package according to the present invention
  • FIG. 2 is a schematic diagram of a robot acquiring a package to be conveyed from a receiving port
  • 3 is a schematic diagram of updating a planned path when a robot encounters an obstacle during traveling
  • Figure 4 is a schematic view of the robot unloading the package to be conveyed at the target sorting
  • FIG. 5 is a schematic flow chart of a second embodiment of a method for automatically conveying a package according to the present invention.
  • FIG. 6 is a schematic flow chart of a third embodiment of a method for automatically conveying a package according to the present invention.
  • FIG. 7 is a schematic flow chart of a fourth embodiment of a method for automatically conveying a package according to the present invention.
  • FIG. 8 is a schematic flow chart of a fifth embodiment of a method for automatically conveying a package according to the present invention.
  • FIG. 9 is a schematic flow chart of a sixth embodiment of a method for automatically conveying a package according to the present invention.
  • FIG. 10 is a schematic diagram of an interaction process between the robot and the control center in FIG. 9;
  • FIG. 11 is a schematic flow chart of a seventh embodiment of a method for automatically conveying a package according to the present invention.
  • FIG. 12 is a schematic diagram of an interaction process between the robot and the control center in FIG. 11;
  • FIG. 13 is a schematic flow chart of an eighth embodiment of a method for automatically conveying a package according to the present invention.
  • FIG. 14 is a schematic flow chart of a ninth embodiment of a method for automatically conveying a package according to the present invention.
  • 15 is a schematic flow chart of a tenth embodiment of a method for automatically conveying a package according to the present invention.
  • 16 is a schematic flow chart of an eleventh embodiment of a method for automatically conveying a package according to the present invention.
  • 17 is a schematic diagram of re-planning an obstacle avoidance path when the robot detects that another robot exists
  • FIG. 18 is a schematic flow chart of a twelfth embodiment of a method for automatically conveying a package according to the present invention.
  • 19 is a schematic flow chart of a thirteenth embodiment of a method for automatically conveying a package according to the present invention.
  • 20 is a schematic flow chart of a fourteenth embodiment of a method for automatically conveying a package according to the present invention
  • 21 is a schematic flow chart of a fifteenth embodiment of a method for automatically conveying a package according to the present invention.
  • Figure 22 is a schematic structural view of a first embodiment of the robot of the present invention.
  • Figure 23 is a schematic structural view of a second embodiment of the robot of the present invention.
  • Figure 24 is a schematic structural view of a third embodiment of the robot of the present invention.
  • Figure 25 is a schematic structural view of a fourth embodiment of the robot of the present invention.
  • Figure 26 is a schematic structural view of a fifth embodiment of the robot of the present invention.
  • Figure 27 is a schematic view showing the structure of a first embodiment of the automatic conveying package of the present invention.
  • FIG. 28 is a schematic structural view of a second embodiment of a system for automatically conveying a package according to the present invention.
  • 29 is a schematic structural view of a third embodiment of a system for automatically conveying a package according to the present invention.
  • FIG. 30 is a schematic structural view of a fourth embodiment of a system for automatically conveying a package according to the present invention.
  • Figure 31 is a block diagram showing an embodiment of an apparatus having a storage function according to the present invention.
  • the first embodiment of the method for automatically conveying a package of the present invention comprises:
  • the robot obtains at least one package to be delivered from the receiving port;
  • the target of at least one package to be transported by the robot is sorted in the same manner, and the number thereof is determined according to specific conditions, and is not specifically limited herein.
  • the robot 20 acquires at least one package B to be conveyed from the conveyor belt 101 disposed at the receiving port 10.
  • the robot 20 can obtain the number of packages B to be transported, such as two, to be transported by the control center (not shown).
  • the two packages to be transported B are continuously transported on the conveyor belt 101, and continuously enter the robot 20.
  • the sensing device 202 of the robot 20 senses that the two packages have been acquired, that is, leaves the receiving port 10.
  • the robot can also leave the receiving port when receiving the control command sent by the control center; the robot can also deliver only one package at a time, or sense the volume and/or weight of the package reaches the preset. When the volume and / or weight, leave the delivery port.
  • the present application means "and/or" with the symbol "/”.
  • the unloading robot can also be provided at the receiving port, and the unloading robot places the parcel to be transported onto the robot's storage mechanism.
  • the robot 20 may receive a message of a control center (not shown), obtain a target sorting location of each package B to be transported from the message, and may also use the identification set on the conveyor belt 101.
  • the device 102 acquires a target sorting location for each package B to be transported.
  • the identification device may also be disposed on the robot.
  • the identification device may also identify the target sorting location of the package to be transported.
  • the robot can also obtain only the destination address of the package to be transported, and then obtain the corresponding target sorting ground according to the destination address and the current sorting task.
  • the robot may also first obtain the identifier of the package to be transported, send the identifier to the control center, and the control center identifies the target sorting location corresponding to the identifier and sends the identifier to the robot.
  • the planned path is an initial planned path
  • the shortest path may be adopted, that is, a straight path between the current position (the receiving port 10) and the target sorting ground 30, or may be an optimal path according to the terrain plan, the most The optimal path may be one of the unobstructed path or the least path of the obstacle, or may be a path planned according to other principles, and is not specifically limited herein.
  • the shortest path from the current position 10 to the target sorting ground 30 can be directly calculated, thereby acquiring the planned path 40.
  • the planning path 40 may be obtained by a relative positional relationship, or may be obtained according to a defined coordinate system and a current position in the coordinate system and a position coordinate of the target sorting ground 30, or may be obtained according to a scene map.
  • the planning path may be a straight line or a curve, etc., and the robot does not need to rely on the landmark to walk the checkerboard folding line path, thereby reducing the distance traveled by the robot and improving the efficiency of the robot traveling.
  • the robot may acquire the planned path from a control center (not shown), or the robot may obtain current road condition information from the control center, and then independently plan an optimal path from the current position to the target sorting ground, for example, Accessible path.
  • obstacles include obstacles and obstacles such as congestion and accidents, and obstacles include roadblocks, dropped packages, or malfunctioning robots.
  • the robot 20 can update the real-time The path is planned to avoid the obstacle 401.
  • the updated planning path 50 may be after the obstacle 401 is avoided, and overlaps with the original planned path 40 after the position 402 that does not conflict with the obstacle, so as to reduce the path planning time and improve Robot travel efficiency.
  • the present invention is not limited to the above-mentioned coincidence with the original planned path 40, and is also intended to include a new path that is planned to approach the original planned path 40, or a new path that is not dependent on the original planned path 40.
  • the robot 20 may store a scene map, or acquire a scene map from a control center, or acquire surrounding spatial information (including obstacles, etc.) by scanning during traveling, thereby forming a scene map for path planning and updating.
  • the robot may also receive the updated planning path sent by the control center, that is, the control center finds the obstacle and updates the path, or the robot sends the obstacle information or the update path request to the control center, and the control center receives the obstacle information or updates.
  • the path is updated after the path request; if the obstacle is another robot in motion, the robot can also send an obstacle avoidance request to other robots in progress, and the path is updated by other robots.
  • the number of unloading parcels to be transported is determined according to whether the parcels of the parcels are sorted according to the target sorting location, that is, all of them are identical, and all are unloaded, and the parts are identical, and only the target sorting grounds are unloaded. Part of the package.
  • the shutter mechanism 2011 that opens the storage mechanism 201 toward the end of the target sorting ground 30 is opened, and the storage mechanism 201 is controlled to face.
  • the target sorting ground 30 is inclined so that the package B to be conveyed in the stocking mechanism 201 enters the target sorting ground 30, that is, the package B to be conveyed is unloaded.
  • the robot may include a pop-up mechanism that tilts the storage mechanism 201 toward the target sorting ground 30 by the pop-up mechanism such that the package B to be conveyed is poured into the target sorting ground 30.
  • the robot may further include a unloading mechanism, such as a robot arm, etc., using the unloading mechanism to unload the package to be transported in the storage mechanism. It is also possible to obtain the package to be conveyed in the storage mechanism 201 into the target sorting site 30 through the unloading robot disposed at the target sorting ground 30, and complete the unloading of the package B to be conveyed.
  • a unloading mechanism such as a robot arm, etc.
  • the robot can also simultaneously transmit a plurality of target-sorted packages to be transported. Every time a target sorting site is reached, the corresponding package to be transported is unloaded, and then the planned position of the current location to the next target sorting site is planned until all the packages to be transported are unloaded.
  • the robot acquires at least one package to be transported from the receiving port; acquires a target sorting place of the package to be transported; acquires a planned path from the current position to the target sorting place; and travels according to the planned path, when the traveling process exists
  • the obstacle is updated, the planning route is updated; the traveling to the target sorting ground, the package to be transported is removed, and the robot can automatically complete the whole process of acquiring the parcel and conveying the parcel to the target sorting ground, thereby reducing the component of the artificial participation and reducing the labor.
  • the robot while the robot does not have the problem of physical exertion, it can work for a long time, which can improve the efficiency of conveying the package; and the robot can sort the route according to the target of the package, or increase and decrease according to the target sorting land and the number of packages.
  • the number of robots does not have the problem of high equipment cost or waste of resources when traditional sorting uses conveyor belts.
  • step S11 includes:
  • S111 The robot receives a notification message of the control center, and the notification message includes the receiving port information.
  • the information of the receiving port includes at least one of the location information of the receiving port, the identifier of the receiving port, and the name of the receiving port, or may also include other information of the receiving port, which is not specifically limited herein.
  • the robot can reach the receiving port according to the information of the receiving port.
  • S112 Go to the receiving port corresponding to the receiving port information, and obtain at least one package to be delivered.
  • a control center (not shown) tracks the number of robots at each receiving port, and if the number of robots at the receiving port 10 is less than a preset number (for example, three) And transmitting a notification message to the robot 20 in the venue, the notification message including the location information of the receiving port 10, the unloaded robot 20, or the goods to be transported B having loaded the other receiving ports 10 passing through the receiving port 10, and the robot 20 having the destination of the destination sorting, after receiving the notification message, the route planning can be performed according to the position of the receiving port 10 and the current position of the receiving port 10, and then traveled along the planned path.
  • the cargo port 10 is to obtain at least one package B to be delivered from the receiving port 10.
  • the notification message may also include the identifier of the receiving port and/or the name of the receiving port.
  • the robot itself stores the corresponding relationship between the identifier and/or the name of the receiving port and the position of the receiving port, and the corresponding relationship can be found. Corresponding receiving port.
  • control center may also track the status of each robot, including the position and the cargo status, etc., to send a notification message to the empty robot closest to the receiving port; the receiving port may also be provided with a sensing device.
  • the notification message is directly broadcast to the robot in the venue, or a request message is sent to the control center, so that the control center The robot sends a notification message.
  • the third embodiment of the method for automatically conveying a package according to the present invention is based on the second embodiment of the method for automatically conveying a package, and the notification information received by the robot further includes package information to be conveyed, and the package information to be conveyed At least the first quantity/first weight/first volume of the package to be conveyed is included, wherein step S112 includes:
  • S1121 The robot travels to the receiving port corresponding to the receiving port information, and acquires the first quantity/first weight/first volume of the to-be-transported package by using the sensing device.
  • the sensing device includes, but is not limited to, a pressure sensor and a distance measuring sensor, and an infrared sensor.
  • the first quantity/first weight/first volume of the package to be transported is a package that the currently received robot needs to obtain from the receiving port.
  • the corresponding quantity/weight/volume, the specific value depends on the actual demand, as long as it belongs to the maximum carrying capacity of the robot, including but not limited to: less than the maximum carrying weight, less than the maximum carrying capacity, which is not specifically limited herein.
  • the sensing device 202 when the robot 20 travels to the receiving port 10, the sensing device 202, such as a distance measuring sensor, can be used to sense whether there is a package entering above the storage mechanism 201. If a package to be transported B enters, the sensing device 202 collects the data, and counts it once until the number of entries reaches the first number, and the robot 20 leaves the receiving port 10.
  • the method in this example may further include that the data collected by the sensing device meets a preset condition, for example, the pressure sensor senses an increase in the weight carried by the storage mechanism, and counts once to improve the accuracy.
  • the robot 20 can also use the infrared sensor 202 or other visual sensors to acquire spatial information of the package B to be transported into the storage mechanism 201 in real time, including size, volume, etc., so that the robot 20 is acquiring.
  • the robot 20 can also use the pressure sensor 202 to sense the weight carried by the storage mechanism 201, so that the storage mechanism 201 carries the to-be-conveyed When the weight of the package B reaches the first weight, it leaves the receiving port 10.
  • step S12 includes:
  • the robot uses the identification device to identify the identification information of the package to be delivered, so as to obtain the target sorting location of the package to be delivered;
  • the identification information includes, but is not limited to, a barcode, a two-dimensional code, and a destination address text of the package to be delivered.
  • the identification device is a scanning device or a visual sensor, and may be disposed in the robot or in a receiving port or other location.
  • the identification device is in communication with the robot, and is not specifically limited herein.
  • visual sensors include, but are not limited to, RGBD sensors, three-dimensional cameras, and binocular cameras.
  • the conveyor 101 of the receiving port 10 is provided with an identification device 102, such as a radio frequency scanning device, when the package B to be transported is transferred to the identification area of the identification device 102.
  • the identification device 102 scans the barcode on the package B to be conveyed, thereby identifying the package information corresponding to the barcode, including but not limited to the target sorting location of the package B to be transported, and transmitting the target to the robot 20 in a sorted manner.
  • the identification device may also send the recognized barcode information to the robot, and the corresponding information of the package is obtained by the robot, for example, the corresponding package information is obtained through the control center; or the identification device may be directly disposed on the robot.
  • the robot identifies the identification information of the package to be conveyed, such as a two-dimensional code, and acquires the target sorting location of the package to be conveyed by the two-dimensional code.
  • This embodiment can also be combined with the second embodiment of the method of automatically conveying a package of the present invention, or the second and third embodiments.
  • Step S121 specifically includes:
  • S1211 The robot identifies the identification information of the package to be delivered, obtains the destination address of the package to be delivered, and/or the current sorting task;
  • the identification information includes but is not limited to the barcode, the two-dimensional code and the destination address text of the package to be delivered, and the destination address is the destination of the final delivery of the package to be delivered, and the current sorting task may be the current sorting level, current sorting. Types and the like are used to assist in obtaining the information of the target sorting place, and are not specifically limited herein.
  • S1212 Acquire the destination address and/or the target sorting location corresponding to the current sorting task.
  • the sorting task in the process of sorting the parcel, can be divided into international sorting, provincial sorting, municipal sorting, and district according to the parcel delivery address and destination address.
  • Level sorting, area sorting, etc. respectively, sorting parcels whose destination address is the same country/province/city/district/area to the sorting place corresponding to the country/province/city/district/area.
  • the robot acquires an image of the package to be conveyed by using an identification device, such as a visual sensor, and obtains a destination address of the current package to be delivered and a current sorting task by identifying a destination address text and a single number in the image, thereby acquiring the destination address (
  • an identification device such as a visual sensor
  • the X-cell of the C city of the province A is the target sorting ground corresponding to the current sorting task (for example, the provincial sorting), that is, the sorting ground corresponding to the province A.
  • the robot itself may also be defined or saved with the current sorting task, and only according to the destination address of the package to be delivered, the corresponding target sorting land may be acquired; the robot may also obtain the same from the control center.
  • step S1212 includes:
  • S12121 The robot sends the destination address and/or the current sorting task to the control center;
  • the control center may be a system/device that controls the current sorting process, or a system/device that controls the entire sorting process, and the control center stores at least a destination address of at least part of the package to be transported in the current sorting process.
  • the corresponding relationship between the current sorting task and the target sorting ground may also be updated in real time by a message sent by the robot or other device, which is not specifically limited herein.
  • S12122 Receive a feedback message from the control center, where the feedback message includes a destination address and/or a target sorting location corresponding to the current sorting task.
  • the robot uses the identification device to identify the destination address of the package to be delivered and/or the current sorting task, such as the X-cell and/or city-level sorting in the province A, and the destination address and/or Or the current sorting task is sent to the control center, and the control center queries the destination of the X-cell and/or the city-level sorting in the C city of the province A from the destination address of the saved destination/or the current sorting task and the destination sorting location.
  • the sorting place for example, the target sorting location corresponding to the C city is C1, and the target is sorted to generate a feedback message, which is sent to the robot for the robot to perform subsequent path planning.
  • Step S121 further includes:
  • S1213 The robot acquires data of the package to be delivered corresponding to the identification information of the package to be delivered;
  • the data of the package to be conveyed includes but is not limited to the size and weight of the package to be transported, packaging materials (such as wooden boxes, cartons, plastic films, etc.), types of contents (such as fragile goods, etc.), orientation restrictions, and cargo types. , destination address, shipping address.
  • the robot uses the identification device to identify the identification information of the package to be delivered, for example, the two-dimensional code information, and obtains the data of the package to be delivered corresponding to the identification information through the control center, for example, Data such as 1 kg, square carton packaging and fragile items, so that the robot can carry out subsequent operation planning.
  • the identification device to identify the identification information of the package to be delivered, for example, the two-dimensional code information, and obtains the data of the package to be delivered corresponding to the identification information through the control center, for example, Data such as 1 kg, square carton packaging and fragile items, so that the robot can carry out subsequent operation planning.
  • a robot equipped with a robot arm can be grasped with a suitable end effector (such as a vacuum suction cup), and the package to be placed Placed in the target sorting area, if the target sorting ground is used to execute the code goods, the space planning can be carried out according to the data of the parcel to be transported, that is, the material supporting the strong force (such as wooden box) is placed under the bottom, and the fragile product is placed. Placed in a stable position to improve the quality of the warehousing operation, as well as a package that is oriented toward the limit (such as a forward placement), and the position of the end effector is selected according to its orientation to protect the cargo.
  • a suitable end effector such as a vacuum suction cup
  • the robot may also directly exit from the acquired package data, such as size, weight, and destination address, when the size and/or weight of the acquired package to be delivered reaches the first volume and/or the first weight.
  • the cargo port, and the destination address is used to obtain the target sorting land, thereby implementing the process of subsequently transporting the parcel to the target sorting ground.
  • This embodiment can also be combined with any one of the second to sixth embodiments of the method of automatically transporting a package of the present invention or a combination thereof.
  • the eighth embodiment of the method for automatically conveying a package according to the present invention is based on the seventh embodiment of the method for automatically conveying a package.
  • the method further includes:
  • S1214 The robot uploads the data of the package to be delivered to the control center; or, after receiving the query message of the control center, the robot uploads the data of the package to be delivered to the control center.
  • the query message includes an instruction for querying data of a certain package to be delivered, and the query message may be a broadcast message or other types of messages, which is not specifically limited herein.
  • the data may be saved first, and when receiving the query message of the control center, the robot parses the instruction and obtains
  • the instruction includes the identification information of the package to be conveyed to be inquired, and uploads the data of the package to be delivered corresponding to the identification information to the control center, so that the control center monitors the delivery status of the package to be delivered.
  • the query message may be a broadcast message sent by the control center. After the robot obtains the message, the identifier information in the message command is matched with the package to be transported by the robot, and the matched data of the package to be delivered is uploaded.
  • the query message may also be a specified message sent to the robot.
  • the robot After receiving the message, the robot uploads the corresponding data, or uploads all the data of the carried/saved package to be delivered; the robot may also actively The data is uploaded to the control center, for example, the data of the package to be delivered is uploaded at the same time, or uploaded after a delay; the robot can also upload the location information of the package to be transported at the same time, so that the control center monitors the delivery process of the package. , there is no specific limit here.
  • the ninth embodiment of the method for automatically conveying a package according to the present invention is based on the first embodiment of the method for automatically conveying a package, and the step S12 further includes:
  • S122 The robot receives a notification message, where the notification message includes a target sorting location of the package to be delivered;
  • the notification message is from one of a control center, a unloading robot and a transport mechanism disposed at the receiving port.
  • the unloading robot is disposed at the receiving port and is used for placing the package to be transported on the receiving port to the robot.
  • the robot 20 receives a notification message sent by a control center (not shown) at the same time or after the receiving port 10 acquires at least one package B to be delivered, the notification.
  • the message includes the target sorting location of the package B to be conveyed acquired by the robot 20, and after receiving the target sorting ground, the robot 20 can perform subsequent path planning and conveying operations.
  • the notification message may also be sent by a transport mechanism or a unloading robot installed at the receiving port. After the unloading robot or the transport mechanism acquires the target sorting location, a notification message is generated and sent to the robot.
  • This embodiment can also be combined with any one of the second to eighth embodiments of the method for automatically conveying a package of the present invention or a combination thereof that does not conflict.
  • step S13 includes:
  • S131 The robot plans a planned route from the current location to the target sorting ground; or the robot receives the planned route from the current location sent by the control center to the target sorting ground.
  • the planning path may be a straight line or a curve, etc., and the robot does not need to follow the landmark to take the checkerboard folding line path as in the prior art, thereby reducing the distance traveled by the robot and improving the efficiency of the robot traveling.
  • the robot 20 acquires the target sorting ground 30 of the package B to be transported from the control center (not shown) while acquiring the current position from the control center (such as the receiving port). 10) After the planned route 40 to the target sorting ground 30, the robot 20 travels along the planned path 40 to the target sorting ground 30.
  • the robot can also independently plan the path from the current location to the target sorting ground.
  • the robot can calculate the planned route through its own navigation system and stored map, and can also use the control center's road condition. Path planning is performed on information, map information, etc., and is not specifically limited here.
  • This embodiment can also be combined with any one of the second to eighth embodiments of the method for automatically conveying a package of the present invention or a combination thereof that does not conflict.
  • step S14 includes:
  • S141 The robot uses the sensor to detect whether there are other robots around the road.
  • the sensor may be a ranging sensor, a vision sensor, a laser radar, or the like.
  • the communication between the robots acquires the position of each other, the planned route, etc., and may also request the control center to acquire information of other surrounding robots, or
  • the information received by the control center is used to obtain the information of other robots, and the information of other robots can be obtained by UWB (Ultra-Wideband, no carrier communication technology), which is not specifically limited herein.
  • the obstacle avoidance path may be the original planned path, or the updated planned route may be detected when the robot detects other robots around the travel, and the updated planned route avoids the area where other robots are located, and the specific path is according to actual conditions. It is not specified here.
  • the robot when it is detected that other robots exist, the robot may not transmit the obstacle avoidance message, and only update the planned path to avoid other robots.
  • the robot 20 uses the sensor 203, for example, a vision sensor, to acquire image data around the traveling process, and then uses image processing to detect whether there are other robots around, if the presence is detected.
  • the robot 20 updates the planning path to obtain an updated obstacle avoidance path 50 that bypasses the area 404 where the other robots 403 are located, thereby avoiding collision with other robots 403.
  • the other robots according to the obstacle avoidance message include an updated obstacle avoidance path, which can be used to determine whether the forwarded planned path will conflict with the obstacle avoidance path, and if so, can update its own planned path.
  • the area 404 where the other robots 403 are located may be a range of a preset distance (for example, 0.5 meters) from the other robots 403. The preset distance may be determined according to actual conditions, and is not specifically limited herein.
  • the obstacle avoidance path may be the original planned path of the robot, and other robots determine whether it will collide with its own planned path according to the obstacle avoidance path, and if so, update the planned path to avoid the planned path performed by the robot.
  • the obstacle avoidance path may also be that the robot is planned for other robots, avoiding its own path, and after the obstacle avoidance path is sent to the detected other robots, the other robots travel according to the obstacle avoidance path. That is, the robot can be avoided.
  • This embodiment can also be combined with any one of the second to tenth embodiments of the method for automatically conveying a package of the present invention or a combination thereof that does not conflict.
  • the twelfth embodiment of the method for automatically conveying a package according to the present invention is based on the first embodiment of the method for automatically conveying a package, and the step S14 further includes:
  • the robot receives an obstacle avoidance message sent by another robot, and the obstacle avoidance message includes a priority of another robot or a destination address of another robot;
  • Each of the robots has a corresponding priority, which may be changed according to the destination address of the robot to deliver the package, or may be a preset unalterable priority, and the robot with a lower priority needs to avoid the high priority.
  • the robot coordinates the travel path of the robot in the entire site, reducing the chance of congested or accidental collisions and improving the efficiency of conveying the package.
  • the obstacle avoidance message may further include other information such as the identifier of the robot or the identifier of the package to be transported, and the robot may determine the priority according to the identifier, which is not specifically limited herein.
  • the robot determines whether the priority of the other robot is higher than the priority of the robot, or determines whether the priority corresponding to the destination address of the other robot is higher than the priority corresponding to the destination address of the robot;
  • the robot 20 receives an obstacle avoidance message sent by another robot 403, and the obstacle avoidance message includes the destination address 60 of the other robot 403, that is, the target sorting of the package to be transported.
  • the robot 20 compares the priority A1 corresponding to the destination address 60 with its own destination address 30, that is, the target sorting location 30 of the package delivered by the robot 20, and the corresponding priority B1, and determines that the priority A1 is high.
  • the robot 20 updates its own planned path so that the updated planned path 50 avoids Other robots are on, while other robots can follow the original planning path.
  • the robot may send an obstacle avoidance message to other robots so that other robots avoid the planned path of the robot.
  • the obstacle avoidance message may include the priority of the robot itself and the planned path.
  • other robots may simultaneously transmit their planned obstacle avoidance path to the robot, so that the updated planned path of the robot avoids the travel path of other robots, or the robot may actively send to other robots.
  • Obstacle avoidance messages are not specifically limited here.
  • This embodiment can also be combined with any one of the second to eleventh embodiments of the method for automatically conveying a package of the present invention or a combination thereof that does not conflict.
  • step S14 includes:
  • S146 The robot receives a road condition message sent by another robot/control center.
  • the traffic status message includes congestion information, fault information, and the like.
  • S147 Determine, according to the traffic condition message, whether there is congestion in the planned path of the robot.
  • the robot receives a road condition message sent by another robot/control center, and according to the road condition message, the robot knows that the location A is congested, and the device determines whether the planned path passes the position A, or Whether there is an area in the planned path that is less than the preset distance (for example, 1 meter) from the position A. If the planned path passes the position A, or there is an area where the distance from the position A is less than the preset distance, it is determined that the planned path of the robot exists. Congestion, the robot updates its planned path and bypasses its planned path around position A. For example, the closest distance from position A is greater than the obstacle avoidance distance (such as 5 meters) to avoid congestion.
  • the obstacle avoidance distance such as 5 meters
  • the robot receives traffic conditions such as congestion and faults, so that when the planned path of the robot is congested, the planned route can be updated in time to avoid congestion, thereby improving the transmission efficiency.
  • traffic conditions such as congestion and faults
  • the robot may also autonomously detect and report or broadcast ambient environment information during travel.
  • step S14 includes:
  • static obstacles include, but are not limited to, dropped parcels, faulty robots, and roadblocks caused by indoor buildings, such as robot-inaccessible areas formed by the architectural form of the target sorting site, including but not limited to other robots and others.
  • the robot can detect surrounding environment information, including static obstacles and dynamic obstacles, by using sensors such as visual sensors or distance sensors during traveling, when the robot detects its traveling direction.
  • the robot can track the motion paths of other robots in progress during the most recent preset time period (such as the last 10 seconds) according to the position of other robots in motion. The trend of the movement of the other robots, thereby updating the planned path according to the estimated motion trend to avoid the motion path of the other robots and avoid collision.
  • the robot when the robot detects a static obstacle on its planned path, such as a malfunctioning robot, the robot updates its planned path according to the position of the static obstacle to avoid the static obstacle.
  • This embodiment can also be combined with any one of the second to thirteenth embodiments of the method for automatically conveying a package of the present invention or a combination thereof that does not conflict.
  • step S14 further includes:
  • S1410 The robot broadcasts surrounding environment information or reports surrounding environment information to the control center.
  • the robot can broadcast its surrounding environment information to other robots in real time or periodically, or report surrounding environmental information to the control center, including static obstacles and/or dynamic obstacles, so that other robots can avoid obstacles in time, or control centers.
  • the robot can update the planning route in time, reduce the probability of sending collisions/congestions, and improve the efficiency of conveying packages.
  • the step S1410 may be performed after the step S149, or may be performed simultaneously with the S149, and is not specifically limited herein.
  • This embodiment can also be combined with any one of the second to thirteenth embodiments of the method for automatically conveying a package of the present invention or a combination thereof that does not conflict.
  • the first embodiment 21 of the present invention comprises at least one memory 211 and at least one processor 212 communicatively coupled to each other.
  • the processor 212 controls the operation of the robot 21, and the processor 212 may also be referred to as a CPU (Central Processing). Unit, central processing unit).
  • Processor 212 may be an integrated circuit chip with signal processing capabilities.
  • the processor 212 can also be a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the processor 212 is operative to execute instructions to implement a method as provided by any one of the first to fifteenth embodiments of the method of automatically transporting a package of the present invention or a non-conflicting combination thereof.
  • the memory 211 can include a read only memory (ROM, Read-Only) Memory), Random Access Memory (RAM), Flash Memory, hard disk, optical disk, etc.
  • ROM read only memory
  • RAM Random Access Memory
  • Flash Memory hard disk, optical disk, etc.
  • the memory 211 stores instructions or data and the like required by the processor 212.
  • the robot may also include a sensor, a sensing device, an identification device, a communication circuit, a display device, a keyboard, or a touch device, and the like, which is not specifically limited herein.
  • the second embodiment of the present invention is based on the first embodiment of the robot of the present invention, and further includes: a communication circuit 223, which is connected to the processor 222 for communicating with other external devices; wherein the memory 221 is Referring to the memory in the first embodiment of the robot of the present invention, it will not be repeated here.
  • other external devices may be other robots, control centers or transmission mechanisms, unloading robots and the like.
  • the communication circuit 223 includes a radio frequency circuit and may include an antenna or the like.
  • the communication circuit 223 may also include an optical communication device, an acoustic wave communication device, etc. to implement communication.
  • the robot 22 can communicate with other robots, control centers, transport mechanisms, and unloading robots using the communication circuit 223 to implement obstacle avoidance, receive parcels, and the like.
  • the specific working process of the communication circuit 223 can refer to the method provided by any one of the first, second, sixth, eighth, and fifteenth embodiments of the method for automatically conveying a package of the present invention or a non-conflicting combination thereof. It will not be repeated.
  • the third embodiment of the robot of the present invention is based on the second embodiment of the robot of the present invention, further comprising: a sensing device 234 connected to the processor 232 for sensing the package to be transported by the robot 23 The quantity/weight/volume so that the robot 23 leaves the receiving port when the number/weight/volume of the loaded package to be delivered reaches the first quantity/first weight/first volume; wherein the memory 231 and the communication circuit 233 can Referring to the memory and communication circuit in the second embodiment of the robot of the present invention, it will not be repeated here.
  • the sensing device 234 can be a pressure sensor, a ranging sensor, an infrared sensor, or the like.
  • the specific working procedure of the sensing device 234 can refer to the method provided by any one of the first, third, eleventh and fourteenth embodiments of the method for automatically conveying a package of the present invention or a combination thereof without conflict, and is not repeated here. .
  • the fourth embodiment of the robot of the present invention is based on the third embodiment of the robot of the present invention, further comprising: an identification device 245, and a connection processor 242 for identifying identification information of the package to be transported; wherein the memory 241.
  • the communication circuit 243 and the sensing device 244 can refer to the memory, the communication circuit, and the sensing device in the third embodiment of the robot of the present invention, and are not repeated here.
  • the identification device 245 may be a radio frequency identification device or a visual sensor.
  • the identification information of the package to be delivered may be a barcode, a two-dimensional code, or a text message, and is not specifically limited herein.
  • the specific working process of the identification device 245 can refer to the method provided by any one of the first, fourth, fifth, seventh, and eighth embodiments of the method for automatically conveying a package of the present invention or a non-conflicting combination thereof. Repeat again.
  • the fifth embodiment of the present invention is based on the fourth embodiment of the robot of the present invention, further comprising: a sensor 256 connected to the processor 252 for detecting surrounding environment information so that the robot 25 When there is an obstacle during the traveling, the planning path is updated; wherein the memory 251, the communication circuit 253, the sensing device 254, and the identification device 255 can refer to the memory, the communication circuit, the sensing device, and the identification device in the fourth embodiment of the robot of the present invention, It will not be repeated.
  • the sensor 256 includes, but is not limited to, a distance sensor, a lidar, a visual sensor; ambient information includes, but is not limited to, static obstacles and dynamic obstacles.
  • the specific working process of the identification device 256 can refer to the method provided by any one of the first, eleventh, thirteenth, and fourteenth embodiments of the method for automatically conveying a package of the present invention or a non-conflicting combination thereof. Repeat again.
  • the first embodiment 80 of the system for automatically conveying a package of the present invention includes a robot 801 for loading a package and moving the package.
  • the specific structure of the robot 801 can refer to the structure provided by any one of the first to fifth embodiments of the robot of the present invention or a combination of some of the structures thereof, and is not repeated here.
  • the robot 801 may also include a robot arm, a display device, a keyboard, or a touch device, etc., as needed, and is not specifically limited herein.
  • the second embodiment 81 of the system for automatically conveying a package of the present invention is based on the first embodiment of the system for automatically conveying a package, and further includes: a control center 812 connected to the robot 811 for the robot 811 A message is sent to control the motion of the robot 811.
  • the control center 812 can be connected to the robot 811 by wireless.
  • the control center 812 can monitor the working state of all the robots 811, the specific working process, and the interaction process with the robot can refer to the method for automatically conveying the package according to the present invention.
  • the first, second, fourth to eighth, tenth, tenth The methods provided by any one of the three to fifteenth embodiments or their non-conflicting combinations are not repeated here.
  • the third embodiment 82 of the system for automatically conveying a package of the present invention is based on the second embodiment of the system for automatically conveying a package, further comprising: a conveying mechanism 823, the conveying mechanism 823 being disposed at the receiving port, The package to be transported is transmitted to the robot 821.
  • the transport mechanism 823 can be a conveyor belt.
  • the transport mechanism 823 can also be provided with identification means for identifying the identifier of the package to be transported; the transport mechanism 823 can also be provided with a splitting device at the end for dividing the parcels of the same target sorting into the same pile, so that the robot 821 The same stack of packages is obtained; the transport mechanism 823 can also be provided with communication circuitry for transmitting the target sorting and/or identification information of the package to the robot 821 and/or the control center 822.
  • the transmission mechanism may further include a display device, a keyboard, a sensor, and the like according to actual needs.
  • the system for automatically conveying the package may not include a control center, and is not specifically limited herein.
  • the fourth embodiment 83 of the system for automatically conveying packages of the present invention is based on the third embodiment of the system for automatically conveying packages, further comprising: a unloading robot 834 for placing the package to be transported to the robot 831 on.
  • the unloading robot 834 is disposed at the receiving port for holding the package to be transported and placing it on the robot 831.
  • the receiving port may also be provided with a transport mechanism 833, and the transport mechanism 833 may refer to the automatic method of the present invention.
  • the conveying mechanism in the third embodiment of the system for conveying the package is not repeated here.
  • the unloading robot 834 may include identification means for identifying identification information of the package and/or target sorting location, and the unloading robot 834 may further include communication circuitry for transmitting the sorted destination and/or identification information of the package to Robot 831 and/or control center 832.
  • the unloading robot may further include other devices such as a display device, a keyboard, a sensor, and the like according to actual needs.
  • the system for automatically transporting the package may not include a control center and/or a transport mechanism, and is not specifically limited herein.
  • the device 90 having a storage function internally stores a program 901, and when the program 901 is executed, the first to tenth methods for automatically conveying a package according to the present invention are implemented.
  • the device 90 having a storage function may be a portable storage medium such as a USB flash drive or an optical disk, or may be a base station, a server, or a separate component that can be integrated into the base station, such as a baseband board or the like.

Abstract

L'invention concerne un procédé, un système, un robot et un appareil de transport automatique de colis doté d'une fonction de stockage. Le procédé comprend les étapes suivantes : obtention, par un robot (20), d'au moins un colis à transporter (B) à partir d'un port de réception de marchandises (10) (S11) ; obtention d'un emplacement de tri cible (30) du colis à transporter (B) (S12) ; obtention d'un trajet de plan (40) d'une position actuelle à l'emplacement de tri cible (30) (S13) ; déplacement selon ledit trajet de plan (40) et, si un obstacle est présent pendant le processus de déplacement, mise à jour du trajet de plan (40) (S14) ; déplacement vers l'emplacement de tri cible (30) et déchargement du colis à transporter (B) (S15). Le moyen décrit par l'invention réduit le coût du travail manuel et améliore l'efficacité de transport d'un colis.
PCT/CN2017/100534 2017-09-05 2017-09-05 Procédé, système, robot et appareil de stockage pour transporter automatiquement un colis Ceased WO2019047018A1 (fr)

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PCT/CN2017/100534 WO2019047018A1 (fr) 2017-09-05 2017-09-05 Procédé, système, robot et appareil de stockage pour transporter automatiquement un colis

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