CN112388634B - Collaborative handling system - Google Patents
Collaborative handling system Download PDFInfo
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- CN112388634B CN112388634B CN202011189643.7A CN202011189643A CN112388634B CN 112388634 B CN112388634 B CN 112388634B CN 202011189643 A CN202011189643 A CN 202011189643A CN 112388634 B CN112388634 B CN 112388634B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
Embodiments of the present disclosure disclose a co-handling system. One embodiment of the method comprises the following steps: the main movable robot is provided with a laser emitting device and/or a laser receiving device, the auxiliary movable robot is provided with a laser receiving device and/or a laser emitting device, and the laser receiving device and the laser emitting device are positioned in the same horizontal plane; the laser emitting device is configured to emit a laser signal in a preset direction in a preset horizontal plane; the laser receiving device is configured to receive the laser signal and determine a first relative position of the laser receiving device relative to the laser emitting device based on a positional relationship of the received laser signal and the laser receiving device; the primary or secondary mobile robots are further configured to determine a real-time relative position of the secondary mobile robot with respect to the primary mobile robot based on the first relative position, which may reduce the cost of the collaborative handling system.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of warehousing, in particular to a warehousing transportation vehicle, and especially relates to a cooperative transportation system.
Background
In a scenario where the movable robots automatically transfer the cargo, there is a case where two or more movable robots are required to cooperatively transfer the cargo, and the relative positional relationship between the movable robots is very important in the cooperative transfer process.
In the related art, the following two schemes are generally adopted: absolute positioning of each movable robot or determination of the relative position between the movable robots by image technology. The method comprises the steps that each movable robot is absolutely positioned, real-time communication is required to be carried out among a plurality of movable robots, and an industrial bus or a complex communication protocol and strategy are required to be used for guaranteeing the reliability and real-time communication; the relative position between the movable robots is perceived through an image recognition technology, namely, one movable robot is taken as the main part, image marks are stuck around the movable robot, and images on the movable robots are scanned on other movable robots in real time through cameras so as to obtain the relative position relation with the movable robots, and a processor with higher performance is needed to ensure the precision.
Disclosure of Invention
Embodiments of the present disclosure propose a co-handling system.
In a first aspect, embodiments of the present disclosure provide a co-handling system comprising: the auxiliary movable robot moves along a conveying path when the main movable robot and the auxiliary movable robot convey the target object, and the auxiliary movable robot follows the main movable robot to move and keeps the real-time relative position between the auxiliary movable robot and the main movable robot consistent with the preset relative position; the main movable robot is provided with a laser emitting device and/or a laser receiving device, the auxiliary movable robot is provided with a laser receiving device and/or a laser emitting device, and the laser receiving device and the laser emitting device are positioned in the same horizontal plane; the laser emitting device is configured to emit a laser signal in a preset direction in a preset horizontal plane; the laser receiving device is configured to receive the laser signal and determine a first relative position of the laser receiving device relative to the laser emitting device based on a positional relationship of the received laser signal and the laser receiving device; the primary or secondary mobile robot is further configured to determine a real-time relative position of the secondary mobile robot with respect to the primary mobile robot based on the first relative position.
In some embodiments, the two ends of the laser receiving device are respectively provided with a laser ranging component, and the laser ranging component is configured to respectively measure the distance between the two ends of the laser receiving device and the laser transmitting device; and the laser receiving device determining a first relative position of the laser receiving device with respect to the laser emitting device via: constructing a first relative coordinate system by taking the central point of the laser transmitting and converting device as an origin; determining a difference in distance between two ends of the laser receiving device and the laser transmitting device; determining an included angle between a vertical plane where the laser receiving device is positioned and a vertical plane where the laser transmitting device is positioned based on the difference value and the distance between the two ends of the laser receiving device; determining coordinates of a projection point of a laser signal on the laser receiving device in a first relative coordinate system based on the included angle, the coordinates of a central point of the laser transmitting device in a first relative coordinate system which is built in advance and the distance between two ends of the laser receiving device and the laser transmitting device, wherein the first relative coordinate system is a plane rectangular coordinate system which is built in a preset plane by taking the central point of the laser transmitting device as an origin; determining the coordinates of the center point of the laser receiving device in the first relative coordinate system based on the coordinates of the projection point in the first relative coordinate system and the distance between the projection point and the center point of the laser receiving device; the coordinates of the center point of the laser light receiving device in the first relative coordinate system are determined as a first relative position of the laser light receiving device with respect to the laser light emitting device.
In some embodiments, the laser receiving device comprises a plurality of laser receivers aligned in a predetermined plane.
In some embodiments, the laser emitting apparatus includes an encoding module for generating a sequence of laser pulses for identifying the laser signal; and the laser receiving device comprises a decoding module which is used for decoding the laser signals to determine the identification of the laser signals, and each laser receiver corresponds to one decoding module.
In some embodiments, the laser emitting device includes a plurality of emitters aligned in a predetermined plane, each emitter corresponding to one of the encoding modules.
In some embodiments, when the laser receiving device receives a plurality of laser signals simultaneously, the laser receiving device is further configured to: based on the marks of the received laser signals, respectively determining the coordinates of the emitter corresponding to the marks in a first relative coordinate system; based on the coordinates and the included angle of the transmitter in the first relative coordinate system and the distance between the two ends of the laser receiving device and the laser transmitting device, the coordinates of each laser receiver receiving the laser signals transmitted by the transmitter in the first relative coordinate system are respectively determined; the coordinates of the center point of the laser receiving device in the first relative coordinate system are determined based on the coordinates of each laser receiver in the first relative coordinate system and the coordinates of the center point of the laser receiving device in the first relative coordinate system. In some embodiments, the primary mobile robot includes a plurality of laser emitting devices, one for each secondary mobile robot; and/or the main movable robot comprises a plurality of laser receiving devices, and each laser receiving device corresponds to one auxiliary movable robot.
In some embodiments, the co-handling system further comprises a system control device configured to: receiving conveying information of a target object, wherein the conveying information at least comprises physical parameters of the target object, an initial conveying position and a target conveying position; the method includes determining a primary movable robot and a secondary movable robot that participate in the transfer of the target article based on the transfer information, and transmitting the transfer information to the primary movable robot.
In some embodiments, the master mobile robot is further configured to: receiving handling information of a target object; determining a carrying path of the main movable robot and a preset relative position of the auxiliary movable robot relative to the main movable robot based on carrying information; and sending the preset relative position to the auxiliary movable robot.
In some embodiments, the master mobile robot is further configured to: updating the preset relative position, and sending the updated preset relative position to the auxiliary movable robot so that the auxiliary movable robot moves along with the main movable robot according to the updated preset relative position.
In a second aspect, embodiments of the present disclosure provide a co-handling method comprising: receiving a handling task, determining a main movable robot and at least one auxiliary movable robot for executing the handling task based on the handling task; determining a carrying path of the main movable robot and a preset relative position of the auxiliary movable robot relative to the main movable robot based on the carrying task; the conveying path is sent to the main movable robot, and the preset relative position is sent to the auxiliary movable robot; receiving a real-time position of the main movable robot and a real-time relative position of the auxiliary movable robot relative to the movable robot, wherein the real-time relative position is determined by the main movable robot or the auxiliary movable robot based on a received laser signal, and the laser signal is emitted by a laser emitting device configured on the auxiliary movable robot or the movable robot; determining a current movement strategy of the main movable robot based on the real-time position, and transmitting the current movement strategy of the main movable robot to the main movable robot; determining a current movement strategy of the auxiliary movable robot based on the real-time relative position, and transmitting the current movement strategy of the auxiliary movable robot to the auxiliary movable robot.
In a third aspect, embodiments of the present disclosure also provide a mobile robot for handling items in conjunction with other mobile robots, the mobile robot comprising at least one of: a laser emitting device configured to emit a laser signal in a preset direction; a laser receiving device configured to receive a laser signal emitted by a laser emitting device configured on another movable robot that is cooperatively carrying the article; the laser signals are used for determining the real-time relative positions of other movable robots for cooperatively carrying the object relative to the movable robot; the mobile robot is also configured to move along a conveyance path.
In some embodiments, the mobile robot is further configured to: receiving a carrying task; determining a carrying path of the movable robot and preset relative positions of other movable robots relative to the movable robot based on the received carrying task; and sending the preset relative position.
In a fourth aspect, embodiments of the present disclosure also provide a mobile robot for handling items in conjunction with other mobile robots, the mobile robot comprising at least one of: a laser emitting device configured to emit a laser signal in a preset direction; a laser receiving device configured to receive a laser signal emitted by a laser emitting device configured on another movable robot that is cooperatively carrying the article; the laser signals are used for determining the real-time relative position of the movable robot relative to other movable robots; the mobile robot is configured to: receiving a preset relative position of the movable robot relative to other movable robots; the current movement strategy of the mobile robot is determined based on the real-time relative position of the robot with respect to the other mobile robots, such that the real-time relative position of the robot with respect to the other mobile robots is consistent with the preset relative position of the mobile robot with respect to the other mobile robots.
According to the collaborative handling system provided by the embodiment of the disclosure, the laser transmitting device and the laser receiving device are adopted to determine the relative position of the auxiliary movable robot, and the performance requirement on the processor is low, so that the cost of the collaborative handling system can be reduced.
Drawings
Other features, objects and advantages of the present disclosure will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings:
FIG. 1 is a schematic view of a scenario of one embodiment of a co-handling system according to the present disclosure;
FIG. 2 is a schematic illustration of calculating a first relative position of a laser receiving device with respect to a laser emitting device in accordance with one embodiment of the co-handling system of the present disclosure;
FIG. 3 is a schematic diagram of the structure of a laser receiving device in one embodiment of a co-handling system according to the present disclosure;
FIG. 4 is a schematic structural view of a laser emitting device in one embodiment of a co-handling system according to the present disclosure;
FIG. 5 is a flow diagram of one embodiment of a co-handling method according to the present disclosure;
reference numerals:
10-target article; 20-a primary mobile robot; 30-assisting a mobile robot;
200-a laser emitting device; 210-an emitter; 220-an encoding module;
300-a laser receiving device; 310-a laser receiver; 320 a decoding module; 330-ranging assembly.
Detailed Description
The present disclosure is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. Reference will now be made to the accompanying drawings in combination with the present disclosure is illustrated in detail by examples.
Referring to fig. 1, fig. 1 shows a schematic view of a scenario of one embodiment of a co-handling system, as shown in fig. 1, in which scenario the co-handling system comprises: a main movable robot 20 and three auxiliary movable robots 30, the main movable robot 20 and the auxiliary movable robots 30 cooperatively carrying the same target object 10, wherein when the main movable robot 20 and the auxiliary movable robots 30 carry the target object 10, the main movable robot 20 moves along a carrying path, the auxiliary movable robot 30 follows the main movable robot 20 and keeps a real-time relative position between the auxiliary movable robot 30 and the main movable robot 20 consistent with a preset relative position; the main movable robot 20 is provided with a laser emitting device 200 and/or a laser receiving device 300, the auxiliary movable robot 30 is provided with the laser receiving device 300 and/or the laser emitting device 200, and the laser receiving device 300 and the laser emitting device 200 are positioned in the same horizontal plane; the laser emitting apparatus 200 is configured to emit a laser signal in a preset direction within a preset horizontal plane; the laser light receiving device 300 is configured to receive the laser light signal and determine a first relative position of the laser light receiving device 300 with respect to the laser light emitting device 200 based on a positional relationship of the received laser light signal and the laser light receiving device 300; the primary or secondary mobile robots 20, 30 are further configured to determine a real-time relative position of the secondary mobile robot 30 with respect to the primary mobile robot 20 based on the first relative position.
It should be noted that, in fig. 1, the main movable robot 20 is only provided with the laser emitting device 200, while the auxiliary movable robot 30 is only provided with the laser receiving device 300, which is just one of a plurality of combinations that may be adopted by the coordinated conveyance system of the present disclosure, and the coordinated conveyance system of the present disclosure may also adopt the following combinations: only the laser receiving device 300 is provided on the main movable robot 20, while only the laser emitting device 200 is provided on the auxiliary movable robot 30; both the main movable robot and the auxiliary movable robot are provided with the laser emitting device 200 and the laser receiving device 300 at the same time. Therefore, the coordinated handling system can select the most suitable structure according to actual requirements, and the flexibility of the coordinated handling system can be improved. Also, when the main movable robot 20 and the auxiliary movable robot 30 are simultaneously provided with the laser emitting device 200 and the laser receiving device 300, the calculation accuracy of the real-time relative position can be improved by the redundant calculation.
To avoid repetition, the present application is described primarily in the combination illustrated in fig. 1, but is not meant to limit the co-conveyor system of the present disclosure.
In the present embodiment, the main movable robot 20 or the auxiliary movable robot 30 may be an AGV ((Automated Guided Vehicle, automated guided vehicle) or AMR (Autonomous Mobile Robot, automated movable robot). The auxiliary movable robot 30 determines a current movement strategy of the auxiliary movable robot 30 based on the real-time relative position and the preset relative position to keep the real-time relative position consistent with the preset relative position, thereby implementing the following motion of the auxiliary movable robot 30.
Generally, during the cooperative conveyance, when the main movable robot 20 moves along the preset conveyance path, each auxiliary movable robot 30 only needs to maintain the relative position of the auxiliary movable robot 30 with respect to the main movable robot 20, so that the auxiliary movable robot 30 can follow the movement, and the cooperative conveyance of the main movable robot 20 and the auxiliary movable robot 30 can be realized.
In this embodiment, the laser transmitter 200 and the laser receiver 300 are fixedly disposed on the main movable robot 20 and/or the auxiliary movable robot 30, so that the relative positions of the laser transmitter 200 and the laser receiver 300 and the main movable robot 20 or the auxiliary movable robot 30 are fixed, and thus, the real-time relative position of the auxiliary movable robot 30 relative to the main movable robot can be calculated by combining the first relative position of the laser receiver 300 relative to the laser transmitter 200, for example, when the relative position can be represented by the relative coordinates, the coordinate transformation method can be adopted.
As an example, in the coordinated conveyance system shown in fig. 1, the laser transmitter 200 is fixedly disposed on the main movable robot 20, the second relative position between the two is fixed, and on the basis of this, the third relative position of the laser receiver 300 with respect to the main movable robot 20 can be obtained by combining the first relative position, the fourth relative position of the laser receiver 300 with respect to the auxiliary movable robot 30 is also fixed, and the real-time relative position of the auxiliary movable robot 30 with respect to the main movable robot 20 can be obtained by combining the third relative position and the fourth relative position.
For another example, the laser receiving device 300 is disposed on the main movable robot 20, the laser emitting device 200 is disposed on the auxiliary movable robot 30, the first relative position of the laser receiving device 300 with respect to the laser emitting device 200 is converted into the equivalent fifth relative position of the laser emitting device 200 with respect to the laser receiving device 300, then the seventh relative position of the laser emitting device 200 with respect to the main movable robot 20 is obtained by combining the sixth relative position of the laser receiving device 300 with respect to the main movable robot 20, and then the eighth relative position of the laser emitting device 200 with respect to the auxiliary movable robot 30 is obtained by combining the real-time relative position of the auxiliary movable robot 30 with respect to the main movable robot 20.
In some alternative implementations of the present embodiment, the real-time relative position of the auxiliary laser light receiving device 300 with respect to the laser light emitting device 200 may be calculated as follows: the two ends of the laser receiving device are respectively provided with a laser ranging component 330, and the laser ranging component 330 is configured to respectively measure the distance between the two ends of the laser receiving device 300 and the laser transmitting device 200; and, the laser light receiving device 300 determines a first relative position of the laser light receiving device 300 with respect to the laser light emitting device 200 via: constructing a first relative coordinate system by taking the central point of the laser transmitting and converting device as an origin; determining a difference in distance between both ends of the laser receiving device 300 and the laser emitting device 200; determining an included angle between a vertical plane in which the laser receiving device 300 is positioned and a vertical plane in which the laser transmitting device 200 is positioned based on the difference value and the distance between the two ends of the laser receiving device 300; determining coordinates of a projection point of a laser signal on the laser receiving device 300 in a first relative coordinate system based on the included angle, coordinates of a center point of the laser transmitting device 200 in a first relative coordinate system constructed in advance and distances between two ends of the laser receiving device 300 and the laser transmitting device 200, wherein the first relative coordinate system is a plane rectangular coordinate system constructed in a preset plane by taking the center point of the laser transmitting device 200 as an origin; determining coordinates of the center point of the laser receiving device 300 in the first relative coordinate system based on the coordinates of the projection point in the first relative coordinate system and the distance between the projection point and the center point of the laser receiving device 300; the coordinates of the center point of the laser light receiving device 300 in the first relative coordinate system are determined as the first relative position of the laser light receiving device 300 with respect to the laser light emitting device 200.
In a specific example of this implementation, the relative position may be represented by relative coordinates, for example, a real-time relative coordinate system may be constructed with a center point of a cross section of the main movable robot 20 in a preset plane as an origin, and then the coordinates of the auxiliary movable robot 30 in the real-time relative coordinate system are the real-time relative positions of the auxiliary movable robot 30 relative to the main movable robot 20. In addition, the following relative coordinate system can be pre-constructed to assist in calculation: a first relative coordinate system is pre-constructed by taking the intersection line of the panel of the laser emission device 200 and a preset plane and the normal vector of the panel as coordinate axes and taking the central point of the laser emission device 200 as an origin; constructing a second relative coordinate system by taking the intersection line of the panel of the laser receiving device 300 and the preset plane and the normal vector of the panel as coordinates and taking the central point of the laser receiving device 300 as an origin; a third relative coordinate system is constructed with the center point of the projection of the auxiliary movable robot 30 in the preset plane as the origin.
As illustrated in connection with fig. 1, the coordinates of the auxiliary movable robot 30 in the first relative coordinate system are obtained through coordinate transformation in connection with the coordinates of the center point of the laser receiving device 300 in the first relative coordinate system, the coordinates of the center point of the laser emitting device 200 in the third relative coordinate system, and the angles between the normal vector of the panel of the laser emitting device 200 and the coordinate axes of the third relative coordinate system; the coordinates of the movable robot 30 in the real-time relative coordinate system can be assisted by the coordinate transformation matrix by combining the coordinates of the auxiliary movable robot 30 in the first relative coordinate system, the coordinates of the central point of the laser receiving device 300 in the real-time relative coordinate system, and the included angles of the normal vector of the panel of the laser receiving device 300 and the coordinate axes in the real-time relative coordinate system.
For another example, when the laser receiving device 300 is disposed on the main movable robot 20 and the laser emitting device 200 is disposed on the auxiliary movable robot 30, the coordinates of the center point of the laser receiving device 300 in the second relative coordinate system may be obtained by coordinate transformation in combination with the coordinates of the center point of the laser receiving device 300 in the first relative coordinate system and the included angle between the vertical plane in which the laser receiving device 300 is located and the vertical plane in which the laser emitting device 200 is located; the coordinates of the auxiliary movable robot 30 in the second relative coordinate system are obtained through coordinate transformation by combining the coordinates of the central point of the laser emission device 200 in the third relative coordinate system and the included angles between the normal vector of the panel of the laser emission device 200 and the coordinate axes of the third coordinate system; the coordinates of the auxiliary movable robot 30 in the real-time relative coordinate system are obtained through coordinate transformation by combining the coordinates of the auxiliary movable robot 30 in the second relative coordinate system, the coordinates of the central point of the laser receiving device 300 in the real-time relative coordinate system and the included angles of the normal vector of the panel of the laser receiving device 300 and the coordinate axes of the real-time relative coordinate system.
Next, a method for calculating the first relative position in the present implementation is illustrated with reference to fig. 2, where fig. 2 shows a schematic diagram for calculating the relative coordinates of the center point of the laser receiving device in one embodiment of the co-handling system of the present disclosure. As shown in fig. 2, the coordinate system x0y is a real-time relative coordinate system constructed with the center point of the projection of the main movable robot 20 in the preset plane as the origin, and it is assumed that the center point of the laser emitting apparatus 200 coincides with the origin (i.e., the first A relative coordinate system coincides with the real-time relative coordinate system). Point A (x) a ，y a ) The lengths of the line segments BC and DE, which represent the emission points of the laser signal, represent the distances from the two ends of the laser receiving device 300 to the laser emitting device 200, respectively, which can be directly measured by the laser ranging assembly 330, assuming that the lengths of BC and DE are d1 and d2, respectively. The length of the line segment CD is the distance between the two ends of the laser receiving device 300, which is a known quantity, and is assumed to be d3.G (x) g ，y g ) The point represents the center point of the laser receiving apparatus 300, F (x f ，y f ) The point represents the projection point of the laser signal on the laser receiving device 300, and y f ＝y a The length of the line GF is known, assuming d4. The angle θ can be obtained via the following formula (1):
θ＝tan -1 ((d 2 -d 1 )/d 3 ) (1)
the coordinates of the G point in the relative coordinate system can be obtained via the formula (2) and the formula (3):
x g ＝(d 1 ·cosθ+d 2 ·cosθ)/2 (2)
y g ＝d 4 -y f ·cotθ (3)
then, based on the positional relationship between the G point and the center point of the auxiliary movable robot 30, the coordinates of the center point of the auxiliary movable robot 30 in the real-time relative coordinate system are obtained through coordinate transformation, that is, the real-time relative position of the auxiliary movable robot 30 relative to the main movable robot 20.
In contrast to the related art, which uses image recognition technology to determine the real-time relative position of the auxiliary movable robot 30 and the main movable robot 20, which has a high performance requirement for the processor and thus a high cost, the present embodiment measures the relative position by the laser transmitter 200 and the laser receiver 300, which requires a low equipment cost, and thus can reduce the cost of the coordinated handling system.
In the present embodiment, the conveyance path of the main movable robot 20 is a movement locus characterized by absolute coordinates for instructing each movable robot to convey the target object 10 from the start position to the target position along the movement locus. During co-handling, the master mobile robot 20 may sense the environment in real time, for example, through its own sensors such as a multi-line laser or inertial navigation sensor, to determine its actual absolute coordinates. Based on this, the main movable robot 20 determines the current movement strategy (e.g., movement direction, movement speed, etc.) based on the absolute coordinates of the current moment to ensure that the movement trajectory of the main movable robot 20 remains consistent with the trajectory indicated by the conveyance path.
The embodiment of the present disclosure provides a collaborative handling system, which uses the laser transmitting device 200 and the laser receiving device 300 to determine the relative position of the auxiliary movable robot 30, and has low performance requirements for a processor, so that the cost of the collaborative handling system can be reduced.
In some alternative implementations of the present embodiment, the primary mobile robot 20 includes a plurality of laser emitting devices 200, one auxiliary mobile robot 30 for each laser emitting device 200; and/or the main movable robot 20 includes a plurality of laser light receiving devices 300, each laser light receiving device 300 corresponding to one auxiliary movable robot 30. Thus, the real-time relative positions of the plurality of auxiliary movable robots 30 can be determined simultaneously, so that the plurality of auxiliary movable robots 30 can participate in the carrying task simultaneously, and interference is avoided.
In a specific example, after receiving the transfer task, the deployment center (for example, a server of the warehouse management system) generates a transfer path and a preset relative position of each auxiliary movable robot 30 with respect to the main movable robot 20 based on the transfer information, and then sends the transfer path to the main movable robot 20 and the preset relative position to each auxiliary movable robot 30. After the main movable robot 20 receives the carrying path, it moves to the start point of the carrying path, and at the same time, each auxiliary movable robot 30 follows the main movable robot 20 to reach the start point of the carrying path, and maintains a preset relative position with the main movable robot 20. After the main movable robot 20 and each auxiliary movable robot 30 reach the designated positions, the main movable robot 20 and each auxiliary movable robot 30 simultaneously carry the target object 10, and then the main movable robot 20 acquires its own absolute coordinates in real time and moves along the conveying path, and simultaneously, each auxiliary movable robot 30 follows the main movable robot 20 to synchronously move, and the real-time relative position between the auxiliary movable robot 30 and the main movable robot 20 is kept consistent with the preset relative position until the target object 10 is conveyed to the target position. In this process, the laser transmitter 200 provided on the main movable robot 20 continuously transmits the laser signal, and each auxiliary movable robot 30 receives the laser signal through the laser receiver 300 and calculates the real-time relative position of the auxiliary movable robot 30 with respect to the main movable robot 20 according to the positional relationship between the laser signal and the laser receiver 300. The current movement strategy of the auxiliary movable robot 30 is then determined by comparing the real-time relative position with the preset relative position to ensure that the real-time relative position is consistent with the preset relative position.
In some embodiments, the master mobile robot 20 is further configured to: the preset relative position is updated and the updated preset relative position is transmitted to the auxiliary movable robot 30 so that the auxiliary movable robot 30 follows the main movable robot 20 according to the updated preset relative position.
As an example, the main mobile robot 20 receives an instruction to update the conveying path during the conveying process, so that the current preset relative position needs to be updated accordingly, so that the main mobile robot 20 and the auxiliary mobile robot 30 cannot keep synchronization during the conveying process, and the conveying is failed. In this way, the flexibility of the coordinated handling system may be increased.
Referring next to fig. 3, fig. 3 is a schematic structural diagram of a laser receiving device in an embodiment of the coordinated handling system of the present disclosure, where, as shown in fig. 3, the laser receiving device 300 includes a plurality of laser receivers 310 that are aligned in a preset plane, so as to increase an area of the laser receiving device 300 for receiving laser signals, so as to avoid that the auxiliary movable robot 30 cannot maintain a preset relative position due to loss of the laser signals during the handling process, thereby improving fault tolerance during the handling process.
Referring next to fig. 4, fig. 4 shows a schematic structural diagram of a laser emitting device in one embodiment of the coordinated handling system of the present disclosure. As shown in fig. 4, the laser emitting device 200 includes an encoding module 220, and the encoding module 220 is configured to generate a laser pulse sequence, where the laser pulse sequence is used to identify a laser signal; and, the laser receiving device 300 includes a decoding module 320 for decoding the laser signals to determine the identity of the laser signals, and each laser receiver 310 corresponds to one decoding module 320.
In this implementation, the laser receiving device 300 may distinguish the received laser signal based on the identification of the laser signal, so as to avoid interference of the noise laser signal.
As an example, the primary mobile robot 20 may transmit laser signals to 2 secondary mobile robots 30 simultaneously, which may be labeled as a and B, respectively, by the encoding module 220. The auxiliary mobile robot No. 1 30 is set to determine its real-time relative position based on the laser signal identified as a, and the auxiliary mobile robot No. 2 is set to determine its real-time relative position based on the laser signal identified as B. When the auxiliary movable robot 30 No. 1 receives two laser signals at the same time, the laser signals corresponding to the two laser signals can be determined by the identification, so that interference by other laser signals is avoided.
Further, the laser emitting apparatus 200 includes a plurality of emitters 210 aligned in a predetermined plane, and each of the emitters 210 corresponds to one of the encoding modules 220. Therefore, the coverage area of the laser signal can be increased, and the fault tolerance in the conveying process is improved.
In some optional implementations of the present embodiment, when the auxiliary movable robot 30 receives a plurality of laser signals simultaneously, the auxiliary movable robot 30 is further configured to: based on the identifications of the received laser signals, respectively determining coordinates of the transmitters 210 corresponding to the identifications in a relative coordinate system; based on the coordinates and the included angle of the transmitter 210 in the relative coordinate system and the distance between the two ends of the laser receiving device 300 and the laser transmitting device 200, the coordinates of each laser receiver 310 that receives the laser signal transmitted by the transmitter 210 in the relative coordinate system are respectively determined; based on the coordinates of each laser receiver 310 in the relative coordinate system and the coordinates of the center point of the laser receiving device 300 in the relative coordinate system, the coordinates of the auxiliary movable robot 30 in the relative coordinate system are determined.
As will be described further with reference to fig. 2, when the auxiliary movable robot 30 receives a plurality of laser signals, the coordinates of the center point of the laser receiving device 300 in the relative coordinate system may be determined based on the coordinates of each laser receiver 310 in the relative coordinate system, which each receives the laser signal transmitted by the transmitter 210, and then a comparative analysis is performed to determine the coordinates of the center point of the final laser receiving device 300 in the relative coordinate system (for example, the coordinate value with the largest repetition number). By the redundant calculation, the calculation accuracy of the real-time relative position of the auxiliary movable robot 30 can be improved.
In some optional implementations of the present embodiment, the co-handling system further comprises a system control device configured to: receiving conveying information of the target object 10, wherein the conveying information at least comprises physical parameters of the target object 10, an initial conveying position and a target conveying position; the main movable robot 20 and the auxiliary movable robot 30 participating in the conveyance of the target article 10 are determined based on the conveyance information, and the conveyance information is transmitted to the main movable robot 20.
As an example, the system control device may be a terminal device (for example, a computer, a mobile phone, etc.) communicatively connected to each movable robot, and after receiving the conveying information of the target object 10, the system control device may determine that 3 movable robots involved in the conveying task are available according to the physical parameter (for example, the weight or the volume) of the target object 10, for example, the weight of the target object 10 is 100Kg, and the load weight of each movable robot is 40Kg, and determine the main movable robot 20 and the auxiliary movable robot 30 from them.
In some alternative implementations of the present embodiment, the master mobile robot 20 is configured to: receiving conveyance information of the target article 10; determining a transport path of the main movable robot 20 based on the transport information and a preset relative position of the auxiliary movable robot 30 with respect to the main movable robot 20; the preset relative position is transmitted to the auxiliary movable robot 30, and thus, the main movable robot 20 can generate a conveyance path and the preset relative position of the auxiliary movable robot 30 according to the conveyance information by itself.
Referring next to fig. 5, fig. 5 shows a schematic flow chart of one embodiment of a co-handling method according to the present disclosure, the flow comprising the steps of:
s101, receiving a carrying task, and determining a main movable robot and at least one auxiliary movable robot for executing the carrying task based on the carrying task.
The execution main body of the collaborative handling method provided by the disclosure can be a server loaded with a warehouse management system, on one hand, the server is connected with other terminal equipment through a network and is used for receiving a handling task, for example, the execution main body can be a handheld operation terminal of a warehouse manager; on the other hand, the server is connected with each movable robot through a wireless network so as to realize information interaction between the server and each movable robot.
In this embodiment, the carrying task may include a target object to be carried, information about a start position, an end position, a volume, a weight, and the like of the target object, and the execution subject determines, according to the received carrying task, a movable robot involved in carrying the target object from among the movable robots in an idle state in the current warehouse, and determines one main movable robot therefrom, and the other movable robots involved in the carrying task are auxiliary movable robots, and then instructs each movable robot involved in the carrying task to move to the start position of the target object.
S102, determining a conveying path of the main movable robot and a preset relative position of the auxiliary movable robot relative to the main movable robot based on the conveying task.
In this embodiment, the server may determine the transfer path of the main movable robot and the preset relative position of each auxiliary movable robot with respect to the main movable robot based on the start position and the end position of the target object in the transfer task and the available movement path in the current scene, so as to instruct the main movable robot to move along the transfer path, and meanwhile, each auxiliary movable robot moves along the main movable robot.
And S103, transmitting the conveying path to the main movable robot and transmitting the preset relative position to the auxiliary movable robot.
S104, receiving the real-time position of the main movable robot and the real-time relative position of the auxiliary movable robot relative to the movable robot.
In this embodiment, the real-time relative position is determined by the primary or secondary mobile robot based on the received laser signal, which is emitted by a laser emitting device configured on the secondary or mobile robot.
As an example, the master mobile robot may determine its real-time position using its own configured positioning module, which may be, for example, GPS (Global Positioning System ), and then send the real-time position to the server. Meanwhile, the auxiliary movable robot or the main movable robot determines real-time relative positions of the auxiliary movable robot with respect to the main movable robot based on the received laser signals, and then transmits the respective real-time relative positions to the server. The method of determining the auxiliary movable robot relative to the main movable robot based on the laser signal has been discussed in the foregoing embodiments, and will not be described here again.
S105, determining the current movement strategy of the main movable robot based on the real-time position, and sending the current movement strategy of the main movable robot to the main movable robot.
In this embodiment, the server may compare the real-time position of the main movable robot with the carrying path, determine the current movement strategy of the main movable robot, for example, when the server determines that the real-time position of the main movable robot deviates from the carrying path, the server generates a new carrying path based on the real-time position and the key position, and sends the current movement strategy corresponding to the new carrying path to the main movable robot, so as to instruct the main movable robot to carry the target object to the destination position. For another example, the server may also generate a revised path based on the real-time location and the conveyance path, and then send a current movement policy corresponding to the revised path to the master movable robot to instruct the master movable robot to return to the conveyance path, and continue conveying the target item along the conveyance path to the destination location. It will be appreciated that if the server determines that the primary mobile robot is not deviated from the travel path, the current movement strategy may be determined to continue traveling along the travel path.
S106, determining the current movement strategy of the auxiliary movable robot based on the real-time relative position, and sending the current movement strategy of the auxiliary movable robot to the auxiliary movable robot.
In this embodiment, the server may determine the current movement strategy of the auxiliary movable robot by comparing the real-time relative position of the auxiliary movable robot with the preset relative position of the main movable robot. For example, if the server determines that the distance of the real-time relative position of the auxiliary movable robot with respect to the main movable robot in a certain direction is greater than the preset relative position, the generated current movement strategy is to increase the movement speed in the opposite direction of the direction so as to indicate that the real-time relative position of the auxiliary movable robot at the next moment can be kept consistent with the preset relative position.
According to the collaborative handling method provided by the embodiment, the main movable robot and at least one auxiliary movable robot participating in a handling task are determined based on the received handling task, then the generated handling path is sent to the main movable robot, the preset relative position of the auxiliary movable robot relative to the main movable robot is sent to the auxiliary movable robot, the current movement strategy of the main movable robot is determined based on the real-time position of the main movable robot, and the current movement strategy of the auxiliary movable robot is determined based on the real-time relative position of the auxiliary movable robot relative to the main movable robot, so that the main movable robot and the auxiliary movable robots can be indicated to complete the collaborative handling task, wherein the real-time relative position of the auxiliary movable robot relative to the main movable robot is determined based on a laser signal, the performance requirement on a processor is low, and the equipment cost of collaborative handling can be reduced.
Embodiments of the present disclosure also provide a mobile robot for handling items in conjunction with other mobile robots, the mobile robot comprising at least one of: a laser emitting device configured to emit a laser signal in a preset direction; a laser receiving device configured to receive a laser signal emitted by a laser emitting device configured on another movable robot that is cooperatively carrying the article; the laser signals are used for determining the real-time relative positions of other movable robots for cooperatively carrying the object relative to the movable robot; the mobile robot is also configured to move along a conveyance path. The movable robot in this embodiment corresponds to the main movable robot in the foregoing embodiment, and will not be described here again.
In some optional implementations of the present implementation, the mobile robot is further configured to: receiving a carrying task; determining a carrying path of the movable robot and preset relative positions of other movable robots relative to the movable robot based on the received carrying task; and sending the preset relative position.
Embodiments of the present disclosure also provide a mobile robot for handling items in conjunction with other mobile robots, the mobile robot comprising at least one of: a laser emitting device configured to emit a laser signal in a preset direction; a laser receiving device configured to receive a laser signal emitted by a laser emitting device configured on another movable robot that is cooperatively carrying the article; the laser signals are used for determining the real-time relative position of the movable robot relative to other movable robots; the mobile robot is configured to: receiving a preset relative position of the movable robot relative to other movable robots; the current movement strategy of the mobile robot is determined based on the real-time relative position of the robot with respect to the other mobile robots, such that the real-time relative position of the robot with respect to the other mobile robots is consistent with the preset relative position of the mobile robot with respect to the other mobile robots. The movable robot in this embodiment corresponds to the auxiliary movable robot in the foregoing embodiment, and will not be described here again.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.
Claims (12)
1. A co-handling system comprising a main mobile robot and at least one auxiliary mobile robot, said main mobile robot and said auxiliary mobile robot being co-handling the same target object, wherein,
when the main movable robot and the auxiliary movable robot carry the target object, the main movable robot moves along a carrying path, and the auxiliary movable robot moves along the main movable robot and keeps the real-time relative position between the auxiliary movable robot and the main movable robot consistent with a preset relative position;
The laser receiving device and/or the laser receiving device are/is arranged on the main movable robot, the laser receiving device and/or the laser receiving device are/is arranged on the auxiliary movable robot, the laser receiving device and the laser transmitting device are positioned in the same horizontal plane, and the number of the laser transmitting device and/or the laser receiving device is the same as the number of the auxiliary movable robots;
the laser emitting device is configured to emit a laser signal in a preset direction in a preset horizontal plane;
the laser receiving device comprises a plurality of laser receivers which are arranged in a straight line in a preset plane and are configured to receive laser signals and determine a first relative position of the laser receiving device relative to the laser transmitting device based on the position relation between the received laser signals and the laser receiving device;
the primary or secondary mobile robot is further configured to determine a real-time relative position of the secondary mobile robot with respect to the primary mobile robot based on the first relative position;
the master mobile robot is configured to: receiving a carrying task; determining a carrying path of the main movable robot and a preset relative position of the auxiliary movable robot relative to the main movable robot based on the carrying task, wherein different auxiliary movable robots correspond to different preset relative positions; transmitting the preset relative position to the auxiliary movable robot;
The auxiliary mobile robot is configured to: and determining a current movement strategy according to the preset relative position and the real-time relative position.
2. The co-handling system of claim 1, wherein the laser receiving device is provided with laser ranging assemblies at both ends thereof, the laser ranging assemblies being configured to measure a distance between both ends of the laser receiving device and the laser emitting device, respectively;
and the laser receiving device determining a first relative position of the laser receiving device with respect to the laser emitting device via:
constructing a first relative coordinate system by taking the central point of the laser transmitting and converting device as an origin;
determining a difference in distance between two ends of the laser receiving device and the laser emitting device;
determining an included angle between a vertical plane where the laser receiving device is positioned and a vertical plane where the laser transmitting device is positioned based on the difference value and the distance between the two ends of the laser receiving device;
determining coordinates of a projection point of a laser signal on the laser receiving device in a first relative coordinate system based on the included angle, coordinates of a central point of the laser transmitting device in a first relative coordinate system which is constructed in advance and a distance between two ends of the laser receiving device and the laser transmitting device, wherein the first relative coordinate system is a plane rectangular coordinate system which is constructed in the preset plane by taking the central point of the laser transmitting device as an origin;
Determining coordinates of a center point of the laser receiving device in the first relative coordinate system based on the coordinates of a projection point in the first relative coordinate system and the distance between the projection point and the center point of the laser receiving device;
the coordinates of the center point of the laser light receiving device in the first relative coordinate system are determined as a first relative position of the laser light receiving device with respect to the laser light emitting device.
3. The co-handling system of claim 2, wherein the laser receiving device comprises a plurality of laser receivers aligned in the predetermined plane.
4. A co-handling system according to claim 3, wherein the laser emitting device comprises an encoding module for generating a sequence of laser pulses for identifying a laser signal; the method comprises the steps of,
the laser receiving device comprises a decoding module which is used for decoding the laser signals to determine the identification of the laser signals, and each laser receiver corresponds to one decoding module.
5. The co-handling system of claim 4, wherein the laser emitting device comprises a plurality of emitters aligned in the predetermined plane, each of the emitters corresponding to one of the encoding modules.
6. The co-handling system of claim 5, wherein when the laser receiving device receives a plurality of laser signals simultaneously, the laser receiving device is further configured to:
based on the marks of the received laser signals, respectively determining the coordinates of the transmitters corresponding to the marks in the first relative coordinate system;
based on the coordinates of the transmitter in the first relative coordinate system, the included angle and the distance between the two ends of the laser receiving device and the laser transmitting device, the coordinates of each laser receiver receiving the laser signal transmitted by the transmitter in the first relative coordinate system are respectively determined;
the coordinates of the center point of the laser receiving device in the first relative coordinate system are determined based on the coordinates of each laser receiver in the first relative coordinate system and the coordinates of the center point of the laser receiving device in the first relative coordinate system.
7. The co-handling system of claim 1, wherein the primary movable robot comprises a plurality of the laser emitting devices, one for each auxiliary movable robot; and/or the number of the groups of groups,
The main movable robot comprises a plurality of laser receiving devices, and each laser receiving device corresponds to one auxiliary movable robot.
8. The co-handling system of claim 1, further comprising a system control device configured to:
receiving a carrying task, wherein the carrying task at least comprises physical parameters of the target object, an initial carrying position and a target carrying position;
determining a main movable robot and an auxiliary movable robot participating in the transfer of the target object based on the transfer task, and transmitting transfer information to the main movable robot.
9. The collaborative handling system of claim 1, wherein the master mobile robot is further configured to: updating the preset relative position, and sending the updated preset relative position to the auxiliary movable robot to instruct the auxiliary movable robot to determine the current movement strategy of the auxiliary movable robot according to the updated preset relative position.
10. A collaborative handling method, comprising:
receiving a carrying task, and determining a main movable robot and at least one auxiliary movable robot for executing the carrying task based on the carrying task;
Determining a carrying path of a main movable robot and a preset relative position of an auxiliary movable robot relative to the main movable robot based on the carrying task, wherein different auxiliary movable robots correspond to different preset relative positions;
transmitting the carrying path to the main movable robot, and transmitting the preset relative position to the auxiliary movable robot;
receiving a real-time position of the main movable robot and a real-time relative position of the auxiliary movable robot with respect to the movable robot, wherein the real-time relative position is determined by the main movable robot or the auxiliary movable robot based on received laser signals, the laser signals are emitted by laser emitting devices configured on the auxiliary movable robot or the movable robot, and the number of the laser emitting devices and/or the laser receiving devices in the main movable robot is the same as the number of the auxiliary movable robots;
determining a current movement strategy of the main movable robot based on the real-time position, and sending the current movement strategy of the main movable robot to the main movable robot;
Determining a current movement strategy of the auxiliary movable robot based on the real-time relative position and the preset relative position, and sending the current movement strategy of the auxiliary movable robot to the auxiliary movable robot.
11. A mobile robot for transporting an item in coordination with other mobile robots, the mobile robot comprising at least one of:
a laser emitting device configured to emit a laser signal in a preset direction;
the laser receiving device comprises a plurality of laser receivers which are arranged in a straight line in a preset plane and are configured to receive laser signals emitted by laser emitting devices configured on other movable robots for cooperatively carrying the articles;
the laser signals are used for determining the real-time relative positions of other movable robots for cooperatively carrying the articles relative to the movable robot;
the movable robot is further configured to move along a carrying path, the number of the laser emitting devices and/or the laser receiving devices being the same as the number of the other movable robots; the mobile robot is further configured to:
receiving a carrying task;
determining a carrying path of the movable robot and preset relative positions of other movable robots relative to the movable robot based on the received carrying task, wherein different auxiliary movable robots correspond to different preset relative positions;
And sending the preset relative position.
12. A movable robot for carrying an article in cooperation with other movable robots,
the mobile robot includes at least one of:
a laser emitting device configured to emit a laser signal in a preset direction;
the laser receiving device comprises a plurality of laser receivers which are arranged in a straight line in a preset plane and are configured to receive laser signals emitted by laser emitting devices configured on other movable robots for cooperatively carrying the articles;
the laser signals are used for determining the real-time relative position of the movable robot relative to other movable robots;
the mobile robot is configured to:
receiving preset relative positions of the movable robot relative to other movable robots, wherein different movable robots correspond to different preset relative positions;
and determining a current movement strategy of the movable robot based on the real-time relative position of the robot relative to other movable robots and the preset relative position, so that the real-time relative position of the robot relative to other movable robots is consistent with the preset relative position of the movable robot relative to other movable robots.
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