CN111791230B

CN111791230B - Robot unbalance loading detection method, robot loading method and device and robot

Info

Publication number: CN111791230B
Application number: CN202010433528.3A
Authority: CN
Inventors: 许爱功
Original assignee: Beijing Kuangshi Robot Technology Co Ltd
Current assignee: Beijing Kuangshi Robot Technology Co Ltd
Priority date: 2020-05-20
Filing date: 2020-05-20
Publication date: 2022-05-17
Anticipated expiration: 2040-05-20
Also published as: CN111791230A

Abstract

The invention provides a detection method of robot unbalance loading, a robot carrying method, a device and a robot, wherein the detection method of robot unbalance loading comprises the steps of respectively obtaining first pitch angles in a plurality of appointed directions before a robot to be detected lifts an article and second pitch angles in the plurality of appointed directions when the robot to be detected lifts the article through an inertia measurement unit of the robot to be detected; for each appointed direction, respectively calculating a pitch angle difference value between a first pitch angle and a second pitch angle corresponding to the appointed direction; and determining an unbalance loading detection result of the robot to be detected based on the pitch angle difference corresponding to each appointed direction. The invention can achieve a relatively durable and reliable unbalance loading detection effect on the basis of not increasing extra cost.

Description

Robot unbalance loading detection method, robot loading method and device and robot

Technical Field

The invention relates to the technical field of warehousing robots, in particular to a robot unbalance loading detection method, a robot loading device and a robot.

Background

The unbalance loading in the warehousing robot generally refers to the deviation of the lifted goods relative to the center of the robot, and is an important parameter for representing whether the loaded goods are normally placed on the robot. In the field of warehouse logistics, whether unbalance loading exists or not when the robot carries the load can directly influence the safety and reliability of the processes of walking, jacking, putting down and the like when the robot transports goods. The prior art is mostly realized by adding an extra unbalance loading detection sensor, on one hand, the complexity of the structural design of the robot and the robot cost are increased, and on the other hand, because the sensor belongs to a precise sensing device, the problems of sensor abrasion and even damage are easily caused in the long-time repeated jacking, putting down and advancing processes of the robot, and the unbalance loading detection result obtained by the sensor is inaccurate. In summary, the existing sensor detection mode is high in cost, cannot meet the requirement of detecting unbalance loading for a long time, and is poor in reliability.

Disclosure of Invention

In view of the above, the present invention provides a method, a device and a robot for detecting an unbalance loading of a robot, which can achieve a relatively durable and reliable unbalance loading detection effect without increasing additional cost.

In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:

in a first aspect, an embodiment of the present invention provides a method for detecting robot unbalance loading, including: respectively acquiring first pitch angles in a plurality of appointed directions before the robot to be detected lifts an article and second pitch angles in a plurality of appointed directions when the robot to be detected lifts the article through an inertia measurement unit of the robot to be detected; for each appointed direction, respectively calculating a pitch angle difference value between a first pitch angle and a second pitch angle corresponding to the appointed direction; and determining an unbalance loading detection result of the robot to be detected based on the pitch angle difference corresponding to each appointed direction.

Further, the step of obtaining the first pitch angle in a plurality of appointed directions before the robot that waits to detect lifts the article respectively through the inertia measuring unit of waiting to detect the robot to reach the second pitch angle in a plurality of appointed directions when waiting to detect the robot to lift the article includes: respectively acquiring first original pitch angles in a plurality of appointed directions before the robot to be detected lifts an article and second original pitch angles in a plurality of appointed directions when the robot to be detected lifts the article through an inertia measurement unit of the robot to be detected; each appointed direction corresponds to a plurality of first original pitch angles and a plurality of second original pitch angles; for each appointed direction, filtering a plurality of first original pitch angles in the appointed direction to obtain a first pitch angle, and filtering a plurality of second original pitch angles in the appointed direction to obtain a second pitch angle.

Further, the step of filtering the plurality of first raw pitch angles in the specified direction to obtain a first pitch angle includes: calculating an angle difference value between every two adjacent first original pitch angles according to the acquisition sequence of the plurality of first original pitch angles in the specified direction; determining a first original pitch angle corresponding to the angle difference value larger than a preset first threshold value as an invalid pitch angle; and filtering invalid pitch angles in the plurality of first original pitch angles, calculating an average value of the first original pitch angles left after filtering, and taking the average value result as the first pitch angle corresponding to the specified direction.

Further, the step of determining the unbalance loading detection result of the robot to be detected based on the pitch angle difference corresponding to each appointed direction comprises the following steps: comparing the pitch angle difference value corresponding to each appointed direction with a preset second threshold value one by one; when the pitch angle difference value larger than the preset second threshold value does not exist, determining that the robot to be detected has no unbalance loading; and when the pitch angle difference value larger than the preset second threshold value exists, determining that the unbalance loading exists in the robot to be detected, and taking the appointed direction corresponding to the pitch angle difference value larger than the preset second threshold value as the unbalance loading direction of the robot to be detected.

Further, the method further comprises: and when detecting that the robot to be detected has unbalance loading, executing alarm operation or re-executing unbalance loading detection operation.

Further, the number of the designated directions is four, and the difference between two adjacent designated directions is 90 degrees.

In a second aspect, an embodiment of the present invention provides a robot loading method, including: when the target robot receives a loading instruction, carrying out unbalance loading detection on the target robot by adopting any one of the methods provided by the first aspect; and when the unbalance loading detection result of the target robot indicates that the target robot has no unbalance loading, executing the loading operation of the target robot.

In a third aspect, an embodiment of the present invention provides a device for detecting robot unbalance loading, including: the angle acquisition module is used for respectively acquiring first pitch angles in a plurality of specified directions before the robot to be detected lifts an article and second pitch angles in a plurality of specified directions when the robot to be detected lifts the article through an inertia measurement unit of the robot to be detected; the difference value calculating module is used for calculating a pitch angle difference value between a first pitch angle and a second pitch angle corresponding to each appointed direction respectively; and the detection result determining module is used for determining the unbalance loading detection result of the robot to be detected based on the pitch angle difference corresponding to each specified direction.

In a fourth aspect, an embodiment of the present invention provides a robot loading device, including: the unbalance loading detection module is used for carrying out unbalance loading detection on the target robot by adopting any one method provided by the first aspect when the target robot receives a loading instruction; and the object carrying execution module is used for executing the object carrying operation of the target robot when the unbalance loading detection result of the target robot indicates that the target robot has no unbalance loading.

In a fifth aspect, embodiments of the present invention provide a processor, which when running executes the steps of the method of any one of the preceding embodiments.

In a sixth aspect, an embodiment of the present invention provides a robot, where the robot is provided with the processor provided in the fifth aspect.

In a seventh aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the method in any one of the foregoing embodiments.

The embodiment of the invention provides a method and a device for detecting robot unbalance loading, which comprises the steps of firstly respectively obtaining a first pitch angle in a plurality of appointed directions before a robot to be detected lifts an article and a second pitch angle in a plurality of appointed directions when the robot to be detected lifts the article through an inertia measuring unit of the robot to be detected; then, respectively calculating a pitch angle difference value between a first pitch angle and a second pitch angle corresponding to each appointed direction; and finally, determining an unbalance loading detection result of the robot to be detected based on the pitch angle difference value corresponding to each appointed direction. According to the method, the pitch angles before and after the robot lifts an article are obtained through the standard matching induction device-inertial measurement unit which are arranged on the robot to be detected, and then the unbalance loading detection result of the robot to be detected is determined through the pitch angle difference, on one hand, an additional unbalance loading detection sensor is not required to be added, the complexity of the structural design of the robot and the cost of the robot are reduced, on the other hand, the inertial measurement unit cannot be in direct contact with a moving mechanism of the robot, so that the condition that the precision of the unbalance loading detection result is influenced due to the abrasion of the device in the long-time repeated lifting, putting down and advancing processes of the robot is avoided, the requirement for detecting the unbalance loading for a long time can be met, and the reliability of the detection result is improved.

The embodiment of the invention provides a robot carrying method and a device, which can adopt the robot unbalance loading detection method provided by the embodiment to carry out unbalance loading detection on a target robot when the target robot receives a carrying instruction; and when the unbalance loading detection result of the target robot indicates that the target robot has no unbalance loading, executing the loading operation of the target robot. According to the method, before the target robot carries out the object carrying operation, the unbalance loading detection is firstly carried out on the target robot, and the unbalance loading detection result obtained by the robot unbalance loading detection method is reliable, so that the safety of the robot in the cargo carrying process can be effectively guaranteed.

Additional features and advantages of embodiments of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of the invention as set forth above.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present invention;

fig. 2 is a schematic flow chart illustrating a method for detecting robot unbalance loading according to an embodiment of the present invention;

FIG. 3 is a schematic diagram illustrating a direction designated by a robot to be detected according to an embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating pitch angles of a plurality of designated directions before an object is lifted by a robot to be inspected according to an embodiment of the present invention;

FIG. 5 is a schematic diagram showing pitch angles in a plurality of designated directions when a robot to be detected lifts an object according to an embodiment of the present invention;

FIG. 6 is a schematic view showing pitch angles of a plurality of designated directions before the object is lifted by another inspection robot provided by the embodiment of the invention;

FIG. 7 is a schematic diagram showing a plurality of pitch angles in a specified direction when the object is lifted by another robot to be inspected according to an embodiment of the present invention;

FIG. 8 is a schematic flow chart illustrating another method for detecting robot unbalance loading according to an embodiment of the present invention;

fig. 9 is a schematic flow chart of a robot loading method according to an embodiment of the present invention;

FIG. 10 is a schematic flow chart diagram illustrating another method for loading a workpiece by a robot according to an embodiment of the present invention;

fig. 11 is a schematic structural diagram illustrating a detection apparatus for robot unbalance loading according to an embodiment of the present invention;

fig. 12 is a schematic structural diagram of a robot carrying device according to an embodiment of the present invention.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, not all, embodiments of the present invention.

In order to solve the problem that the existing sensor detection mode in the prior art is high in cost, cannot meet the requirement of long-time unbalance detection and is poor in reliability, the robot unbalance load detection method, the robot carrying method and device and the robot provided by the embodiment of the invention can be applied to a warehousing robot carrying goods. The following describes embodiments of the present invention in detail.

The first embodiment is as follows:

first, an example electronic device 100 for implementing a robot unbalance loading detection method, a robot loading device, and a robot according to an embodiment of the present invention is described with reference to fig. 1.

As shown in fig. 1, an electronic device 100 includes one or more processors 102, one or more memory devices 104, an input device 106, an output device 108, and an image capture device 110, which are interconnected via a bus system 112 and/or other type of connection mechanism (not shown). It should be noted that the components and structure of the electronic device 100 shown in fig. 1 are exemplary only, and not limiting, and the electronic device may have other components and structures as desired.

The processor 102 may be implemented in at least one hardware form of a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), the processor 102 may be one or a combination of several of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), or other forms of processing units having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 100 to perform desired functions.

The storage 104 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. On which one or more computer program instructions may be stored that may be executed by processor 102 to implement client-side functionality (implemented by the processor) and/or other desired functionality in embodiments of the invention described below. Various applications and various data, such as various data used and/or generated by the applications, may also be stored in the computer-readable storage medium.

The input device 106 may be a device used by a user to input instructions and may include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like.

The output device 108 may output various information (e.g., images or sounds) to the outside (e.g., a user), and may include one or more of a display, a speaker, and the like.

The image capture device 110 may take images (e.g., photographs, videos, etc.) desired by the user and store the taken images in the storage device 104 for use by other components.

Exemplary electronic devices for implementing the detection method of robot unbalance loading, the robot loading method, the apparatus and the robot according to embodiments of the present invention may be implemented as robots, and in particular, may be executed by a master (or processor) of the robot.

Example two:

referring to fig. 2, a flowchart of a method for detecting a robot unbalance loading, which can be executed by a master controller of a robot, mainly includes the following steps S202 to S206:

step S202, first pitch angles in a plurality of appointed directions before the robot to be detected lifts an article and second pitch angles in a plurality of appointed directions when the robot to be detected lifts the article are respectively obtained through an inertia measurement unit of the robot to be detected.

The pitch angle generally refers to an angle between an X-axis of the body coordinate system and a horizontal plane, and is positive when the X-axis of the body coordinate system is above a plane of the inertial coordinate system XOY, and is negative otherwise. In this embodiment, the robot to be detected includes, but is not limited to, a warehouse cargo robot, and the robot generally has a moving mechanism for moving itself, such as the warehouse cargo robot travels through bottom wheels, and damping springs are installed in the wheels, so that the robot may "nod" when carrying goods, and the pitch angle of the robot may be understood as the included angle between the X axis of the robot coordinate system and the horizontal plane when the "nod" occurs. Therefore, the unbalance loading condition of the robot can be judged by measuring the pitch angle of the robot to be detected.

An Inertial Measurement Unit (IMU) is a device for measuring three-axis attitude angle (or angular velocity) and acceleration of an object, and is a standard matching induction device of a warehousing and freight robot. Because the inertia measurement unit is not in direct contact with the action mechanism of the robot, the device abrasion does not occur to influence the measurement precision when the robot repeatedly lifts, puts down and walks for a long time, thereby being capable of obtaining the measurement data with higher precision for a long time. Therefore, in practical applications, the inertial measurement unit may be utilized to measure the pitch angles of the robot, such as a first pitch angle in a plurality of designated directions before the object is lifted by the robot to be detected, and a second pitch angle in a plurality of designated directions when the object is lifted by the robot to be detected.

Step S204, for each appointed direction, respectively calculating a pitch angle difference value between a first pitch angle and a second pitch angle corresponding to the appointed direction.

In one embodiment, a plurality of first pitch angles and a plurality of second pitch angles may be obtained for each designated direction, a first pitch angle and a second pitch angle corresponding to each designated direction are finally determined by processing (such as filtering, averaging, etc.) the plurality of first pitch angles and the plurality of second pitch angles, and then the pitch angle difference between the finally determined first pitch angle and the second pitch angle for each designated direction is calculated respectively; of course, only one first pitch angle and one second pitch angle may be obtained for each designated direction, and then the pitch angle difference between the first pitch angle and the second pitch angle corresponding to each designated direction may be calculated.

And S206, determining the unbalance loading detection result of the robot to be detected based on the pitch angle difference corresponding to each specified direction.

It can be understood that, when the robot to be detected has unbalance loading, because the weight of the article borne by the robot in the unbalance loading direction is greater than the weight of the article borne by the robot in other directions, the pitch angle data detected by the inertia measurement unit in the unbalance loading direction also has large fluctuation compared with other directions, and meanwhile, in the unbalance loading direction, the difference between the pitch angle when the robot lifts the article and the pitch angle before the robot lifts the article is also greatly different from other directions, and generally speaking, the difference between the pitch angles before and after the robot lifts the article in the unbalance loading direction is greater than the difference between the pitch angles corresponding to other directions. Based on this, the embodiment of the invention judges whether the robot to be detected is unbalanced by using the pitch angle difference value corresponding to each specified direction, and determines the unbalanced load detection result.

According to the method provided by the embodiment of the invention, the pitch angles before and after the robot lifts an article are obtained through the standard matching induction device-inertia measurement unit which is arranged on the robot to be detected, and then the unbalance loading detection result of the robot to be detected is determined through the pitch angle difference value, on one hand, an additional unbalance loading detection sensor is not required to be added, the complexity of the structural design of the robot and the cost of the robot are reduced, and on the other hand, the inertia measurement unit cannot be in direct contact with a moving mechanism of the robot, so that the condition that the precision of the unbalance loading detection result is not influenced due to the abrasion of the device in the long-time repeated lifting, putting down and advancing processes of the robot is avoided, the requirement of detecting the unbalance loading for a long time can be met, and the reliability of the detection result is improved.

Considering that the existing shelf is usually four legs, in order to avoid collision with the shelf legs and ensure that the robot can enter the bottom of the shelf without hindrance when lifting the shelf, four directions can be usually selected as the advancing direction of the robot, and meanwhile, in order to collect more comprehensive data, the four directions can be used as the designated directions. In a specific embodiment, the number of the designated directions of the robot to be detected can be four, and the difference between two adjacent designated directions is 90 degrees. In practical application, goods are usually placed on a shelf, the shelf is provided with four shelf legs, when the robot lifts the shelf, one direction is selected to enter the bottom of the shelf, namely the advancing direction of the robot, the advancing direction of the robot can be used as a first designated direction (namely the first direction), then the robot is controlled to rotate clockwise or anticlockwise for three times, the rotation is performed for 90 degrees every time, and finally four designated directions are determined. Referring to fig. 3, a schematic diagram of a robot to be detected in a designated direction shows the robot, a shelf (including four shelf legs), a forward direction of the robot, and four designated directions. As shown in fig. 3, the robot enters the bottom of the shelf along the forward direction, the forward direction of the robot is indicated by dotted arrows, and the first direction (the same as the forward direction), the second direction, the third direction and the fourth direction which are sequentially rotated clockwise by 90 degrees are indicated by solid arrows, but the robot may be rotated counterclockwise.

In consideration of the fact that there may be a deviation in the acquired data due to the influence of external factors and the like in the data acquisition process, and even the interference of accidental factors may cause an error in the acquired data, the deviation between the data is large, thereby affecting the accuracy of the detection result, so that in order to make the detection result more objective and accurate as much as possible, the present embodiment provides a specific implementation manner for respectively acquiring, by an inertial measurement unit of the robot to be detected, first pitch angles in a plurality of specified directions before the robot to be detected lifts an article, and second pitch angles in a plurality of specified directions when the robot to be detected lifts an article, and the step S202 may be performed with reference to the following steps 1 to 2:

step 1, respectively acquiring first primitive pitch angles in a plurality of appointed directions before the to-be-detected robot lifts an article and second primitive pitch angles in a plurality of appointed directions when the to-be-detected robot lifts the article through an inertia measurement unit of the to-be-detected robot.

And each appointed direction corresponds to a plurality of first original pitch angles and a plurality of second original pitch angles. For example, assuming that the to-be-detected robot has an unbalanced load, before the to-be-detected robot lifts the goods shelf, the to-be-detected robot is controlled to enter the bottom of the goods shelf, and a plurality of first original pitch angles in four specified directions are collected by controlling the robot to rotate, referring to a pitch angle schematic diagram in a plurality of specified directions before the to-be-detected robot lifts goods shown in fig. 4, in the diagram, the ordinate represents the numerical value of the pitch angle, and the abscissa represents the sampling times, that is, the number of pitch angle data collected in each direction. Assuming that 300 data are collected in each direction, 1-300 shown in fig. 4 represents the number of first raw pitch angles collected in the first specified direction, and so on, 301-. As can be seen from fig. 4, the pitch values of the four designated directions are substantially maintained within the same interval, i.e., substantially ± 0.05rad, before the object is lifted by the robot to be detected.

Further, after the first raw pitch angle data before the robot to be detected lifts the object is collected, the robot to be detected can be controlled to lift the goods shelf, and then the second raw pitch angles in four specified directions are collected respectively in the same manner as described above, see fig. 5 for a schematic diagram of the pitch angles in a plurality of specified directions when the robot to be detected lifts the object, where the ordinate represents the value of the pitch angle in the diagram and the abscissa represents the sampling times, which is specifically the same as that shown in fig. 4 and is not described herein again. As can be seen from fig. 5, when the robot to be detected lifts an article, the pitch angle data in one direction obviously fluctuates greatly, and the pitch angle value in the direction is ± 0.15rad or more, so that the unbalance loading condition of the robot to be detected can be determined based on the fluctuation of the pitch angle data in each designated direction before the robot to be detected lifts the article and when the robot to be detected lifts the article. It should be noted that the above examples are illustrative only and should not be considered as limiting.

And 2, for each appointed direction, filtering a plurality of first original pitch angles in the appointed direction to obtain a first pitch angle, and filtering a plurality of second original pitch angles in the appointed direction to obtain a second pitch angle.

In consideration of the fact that errors may exist in acquired data due to the influence of surrounding environment factors or self factors of acquisition equipment in the data acquisition process, the embodiment filters a plurality of first primitive pitch angles and second primitive pitch angles in each specified direction to obtain first pitch angles and second pitch angles respectively, so that the reliability of measurement results can be improved. This embodiment further provides a specific implementation manner of the step of filtering the multiple first raw pitch angles in the specified direction to obtain the first pitch angle, and may be implemented by referring to the following steps 2.1 to 2.3:

and 2.1, calculating an angle difference value between every two adjacent first original pitch angles according to the acquisition sequence of the plurality of first original pitch angles in the specified direction.

In one embodiment, multiple first raw pitch angles are collected for each given direction, and the data for one direction is typically collected all at once before the data for the next direction is collected. Because the pitch angle value of each designated direction is basically kept in the same range before the robot lifts the object, the difference value of two adjacent pitch angles is also kept in the preset range, and if the difference value of the two adjacent pitch angles obtained through calculation is not in the preset range, the two corresponding pitch angles may have larger deviation, so that the accuracy of the detection result is influenced. Therefore, when the data are filtered, the angle difference value between every two adjacent first primitive pitch angles can be calculated according to the acquisition sequence of the plurality of first primitive pitch angles in each appointed direction, so that the influence caused by data with larger deviation is reduced.

And 2.2, determining the first original pitch angle corresponding to the angle difference value larger than the preset first threshold value as an invalid pitch angle.

In an embodiment, the corresponding first original pitch angle may be a pitch angle corresponding to an angle difference value larger than a preset first threshold value, a previous pitch angle adjacent to each other may be a pitch angle corresponding to an angle difference value larger than the preset first threshold value, or both the previous pitch angle and the next pitch angle adjacent to each other may be pitch angles corresponding to an angle difference value larger than the preset first threshold value. For example, the preset first threshold is 0.1rad, in the first case, if two adjacent first pitch angles are 0.17rad and 0.03rad respectively, the angle difference between the adjacent first original pitch angles is calculated to be 0.14rad and is greater than the preset first threshold, and then since the previous pitch angle value is too large, the previous pitch angle may be used as the pitch angle corresponding to the angle difference greater than the preset first threshold, that is, the invalid pitch angle; in the second case, assuming that two adjacent first pitch angles are respectively 0.02rad and 0.15rad, the angle difference between the adjacent first original pitch angles is calculated to be 0.13rad and is greater than the preset first threshold, and then the latter pitch angle is taken as the pitch angle corresponding to the angle difference greater than the preset first threshold, namely, an invalid pitch angle, because the latter pitch angle is too large; in the third case, assuming that two adjacent first pitch angles are 0.19rad and 0.08rad respectively, the angle difference between the adjacent first original pitch angles is calculated to be 0.11rad and is greater than the preset first threshold, and both the front pitch angle and the rear pitch angle are too large, so that both the front pitch angle and the rear pitch angle can be used as the pitch angle corresponding to the angle difference greater than the preset first threshold, that is, the invalid pitch angle. It should be noted that the above examples are illustrative only and should not be considered as limiting.

And 2.3, filtering invalid pitch angles in the plurality of first original pitch angles, averaging the first original pitch angles left after filtering, and taking the average result as the first pitch angle corresponding to the specified direction.

Since the invalid pitch angle is the first primitive pitch angle corresponding to the angle difference value larger than the preset first threshold value, that is, the invalid pitch angle is usually a pitch angle which is relatively too large or too small, which may be caused by the influence of external environment factors or the self factors of the acquisition equipment, in order to ensure the objective and accurate data, the invalid pitch angle may be filtered out, so as to obtain the remaining first primitive pitch angle which fluctuates within a reasonable range. Further, in order to reduce the inaccuracy of the detection result caused by the individual data deviation, the present embodiment averages the remaining first raw pitch angles to obtain the first pitch angle corresponding to the specified direction.

For the filtering operation of the second original pitch angle in each designated direction when the robot to be detected lifts an article, the implementation principle and the process are the same as those of the method, and are not described herein again.

Further, the embodiment of the invention also provides a comparison test to prove the feasibility of the unbalance loading detection method, and in the comparison test, pitch angle data collected when the robot to be detected without unbalance loading lifts the goods shelf are provided. In specific implementation, before the to-be-detected robot lifts the goods shelf, the robot may be controlled to rotate to acquire a plurality of first original pitch angles in four designated directions, see fig. 6 showing a schematic diagram of pitch angles in a plurality of designated directions before another to-be-detected robot lifts goods, where the ordinate represents the value of the pitch angle, and the abscissa represents the sampling frequency, that is, the number of pitch angle data acquired in each direction. Assume that 300 data are collected per direction. As can be seen from fig. 6, the pitch values of the four designated directions are substantially maintained within the same interval, i.e., substantially ± 0.05rad, before the object is lifted by the robot to be detected.

Further, after the first original pitch angle data before the to-be-detected robot lifts the article is collected, the to-be-detected robot can be controlled to lift the goods shelf without unbalance loading, then the second original pitch angles in four specified directions are collected respectively in the same manner as the above, referring to another pitch angle schematic diagram in a plurality of specified directions shown in fig. 7 when the to-be-detected robot lifts the article, in the diagram, the ordinate represents the numerical value of the pitch angle, the abscissa represents the sampling times, and it is assumed that 300 data are collected in each direction. As can be seen from fig. 7, when the to-be-detected robot lifts a shelf without unbalance loading, the pitch angle values of the robot in four designated directions are basically ± 0.08rad, which are obviously smaller than the pitch angles when the robot lifts the shelf with unbalance loading. Therefore, the pitch angle data of the robot to be detected in a plurality of specified directions before and during lifting of the object are collected, and after corresponding threshold values are set, the data in a certain direction can be effectively monitored to be greatly fluctuated, and the condition of unbalance loading in the certain direction is judged.

For convenience of understanding, the present embodiment provides a specific implementation manner for determining the unbalance loading detection result of the robot to be detected based on the pitch angle difference corresponding to each designated direction, that is, the step S206 may be performed with reference to the following steps (1) to (3):

and (1) comparing the pitch angle difference value corresponding to each designated direction with a preset second threshold value one by one.

In one embodiment, the pitch angles of the robot to be detected before and during the object lifting are mostly kept within a range, so that the difference of the pitch angles is also kept within a range, and if the difference of the pitch angles is large, namely the fluctuation of the pitch angles is large, the unbalance loading is proved to exist. Based on this, the unbalanced load of the robot to be detected is determined by comparing the pitch angle difference value corresponding to each designated direction with the preset second threshold value. The preset second threshold is related to the characteristics of the robot and the scene environment where the robot is located, and the user may adjust the preset second threshold according to the actual situation, which is not limited herein.

And (2) determining that the robot to be detected has no unbalance loading when the pitch angle difference value larger than the preset second threshold value does not exist.

In an embodiment, when the pitch angle difference value in each designated direction is smaller than a preset second threshold, that is, when there is no pitch angle difference value larger than the preset second threshold, it is determined that the pitch angle in each designated direction is within a normal range, and the robot to be detected has no unbalance loading.

And (3) when the pitch angle difference value larger than the preset second threshold value exists, determining that the unbalance loading exists in the robot to be detected, and taking the appointed direction corresponding to the pitch angle difference value larger than the preset second threshold value as the unbalance loading direction of the robot to be detected.

In an embodiment, when the pitch angle difference value in one or more specified directions is greater than a preset second threshold, it indicates that the pitch angle in one or more specified directions has relatively large fluctuation and exceeds a normal range, and it can be determined that the robot to be detected has unbalance loading, and the specified direction corresponding to the pitch angle difference value greater than the preset second threshold is the unbalance loading direction of the robot to be detected, and the unbalance loading direction of the robot may be one or more.

When the robot to be detected is detected to have the unbalance loading, the alarm operation can be executed or the unbalance loading detection operation can be executed again. In practical application, when it is detected that the robot to be detected has unbalance loading, the robot can inform an operator of timely carrying out exception handling through an alarm operation, such as an audible and visual alarm or sending an alarm message to a designated terminal, so as to ensure the safety of cargo carrying. In addition, considering that the detection result may have deviation, in order to prevent misjudgment, the unbalance loading detection operation may be re-executed, whether the robot to be detected really has unbalance loading is further determined, if the detection result obtained after the unbalance loading detection operation is re-executed still has unbalance loading, the robot may be directly controlled to unload the carried goods, and the alarm operation is used to notify the human to perform subsequent processing, so as to ensure the safety of the robot carrying the goods.

According to the detection method for the robot unbalance loading, an additional sensor is not needed, and whether the robot unbalance loading exists or not is judged by collecting data through the inertial measurement unit of the standard induction device of the robot, so that the design and manufacturing process of the robot are simplified, and the cost of the robot is saved; meanwhile, the inertia detection unit can not be in direct contact with a moving mechanism of the robot, so that the inertia detection unit can be used for a long time, the situation that the judgment precision is influenced due to the abrasion of components can not occur even after the robot is repeatedly jacked up, put down and walks, and the reliability of a detection result is improved; in addition, the method provided by the embodiment can modify the judgment threshold value of the unbalance loading detection according to the characteristics of the robot and the environment where the robot is located, so that the dynamic modification of the unbalance loading determination standard is realized to adapt to different models of products and different application scenes, and the application range is wider compared with the prior art.

On the basis of the foregoing embodiments, the present embodiment provides a specific example of a robot unbalance loading detection method, referring to a flow diagram of another robot unbalance loading detection method shown in fig. 8, the method mainly includes the following steps S802 to S822:

in step S802, the unbalance loading detection operation is started. For example, the main controller of the robot starts to perform the unbalanced load detection operation when receiving the unbalanced load detection command, but the main controller of the robot may preferentially start the unbalanced load detection operation to perform the self-test when receiving the cargo carrying command.

Step S804, executing a rotation operation of the robot to be detected, collecting a plurality of first primitive pitch angles in four designated directions, and performing filtering processing on the plurality of first primitive pitch angles in each direction to obtain a first pitch angle corresponding to each designated direction.

In one embodiment, when the robot to be detected performs an unbalance loading detection operation, the robot to be detected is firstly controlled to enter the bottom of a goods shelf to be jacked from the forward direction, and a plurality of first original pitch angles of the forward direction of the robot are collected through an inertia detection unit before the goods shelf is jacked; and then controlling the robot to rotate for three times, rotating for 90 degrees each time, and sequentially acquiring a plurality of first original pitch angles in each direction to finally obtain the first original pitch angles in four appointed directions.

Because a small amount of data is too large or too small due to influences of factors such as environment and acquisition equipment in an acquisition process, data with large fluctuation needs to be filtered out through filtering processing (which may also be referred to as filtering processing). And after filtering, obtaining a plurality of remaining first original pitch angles in each appointed direction within a reasonable range, and in order to ensure the objective accuracy of data, averaging the remaining first original pitch angles in each appointed direction to obtain a first pitch angle corresponding to each appointed direction.

And step 806, judging whether the first pitch angle is normal, if so, executing step 808, otherwise, executing step 810.

And comparing the first pitch angle corresponding to each appointed direction obtained after filtering with a preset range in sequence. Because the first pitch angle of each designated direction of the goods shelf lifted by the robot is basically kept in a range, if the pitch angle is too large, the situation that one end of the robot touches the ground can occur, and the safety of goods carrying is influenced, and therefore when the first pitch angle in a certain direction is not in the preset range (namely the first pitch angle fluctuates greatly relative to other directions), the data can be judged to be abnormal; or if the robot to be detected cannot normally read the data detected by the inertia detection unit, the data can also be judged to be abnormal, and the step S808 is executed when the data is abnormal; when the first pitch angle beyond the preset range does not exist, the data is normal, and the step S810 is continuously performed.

In step S808, a data exception handling operation is performed.

In actual practice, the data exception handling operation may be, for example, one or more of the following: sound alarm operation, data abnormal reason recording operation, flash lamp flashing operation, alarm message sending operation to a specified terminal, and timely informing an operator of abnormal processing.

And step S810, carrying out a goods shelf lifting operation.

Step S812, executing a rotation operation of the robot to be detected, collecting a plurality of second primitive pitch angles in four designated directions, and performing filtering processing on the plurality of second primitive pitch angles in each direction to obtain a second pitch angle corresponding to each designated direction.

Step S814, determining whether the second pitch angle is normal, if so, executing step S808, otherwise, executing step S816.

The implementation manner and principle of the steps S812 and S814 are the same as those of the steps S804 and S806, and are not described herein again.

Step S816 calculates a pitch angle difference between a first pitch angle and a second pitch angle corresponding to each designated direction.

In one embodiment, a first pitch angle and a second pitch angle corresponding to each direction are compared one by one to obtain a pitch angle difference corresponding to each designated direction.

Step S818, judging whether the pitch angle difference value is larger than a preset second threshold value; if yes, go to step S820; otherwise, step S822 is performed.

In step S820, an unbalance loading exception handling operation is performed.

When detecting that the robot to be detected has unbalance loading, the robot can inform an operator of carrying out exception handling through alarm operation (such as sending an acousto-optic alarm or sending an alarm message to a designated terminal); or the unbalance loading detection operation can be re-executed to further determine whether the robot to be detected really has unbalance loading, if the detection result obtained after the unbalance loading detection operation is re-executed still has unbalance loading, the robot can be controlled to unload the carried goods, and then the robot is informed to carry out subsequent processing manually through the alarm operation, so that the safety of the robot carrying goods is ensured.

Step S822, the unbalance loading detection is completed, and the cargo carrying task is continuously executed.

In summary, according to the detection method for the robot unbalance loading provided by this embodiment, the pitch angles before and after the robot lifts an object are obtained through the standard matching induction device-inertia measurement unit which is provided in the robot to be detected, and then the unbalance loading detection result of the robot to be detected is determined through the pitch angle difference, on one hand, an additional unbalance loading detection sensor is not required to be added, the complexity of the robot structural design and the robot cost are reduced, and on the other hand, because the inertia measurement unit does not directly contact with the action mechanism of the robot, the condition that the precision of the unbalance loading detection result is affected due to the abrasion of the device does not occur in the long-time repeated lifting, putting down and advancing processes of the robot, so that the requirement for detecting the unbalance loading for a long time can be met, and the reliability of the detection result is improved.

Example three:

on the basis of the foregoing embodiments, the embodiment of the present invention further provides a robot object carrying method, referring to a schematic flow chart of the robot object carrying method shown in fig. 9, the method mainly includes the following steps S902 to S904:

and step S902, when the target robot receives the loading instruction, carrying out unbalance loading detection on the target robot by adopting a robot unbalance loading detection method.

The implementation principle and the generated technical effects of the method for detecting robot unbalance loading adopted in this embodiment are the same as those of the foregoing embodiment, and specific reference may be made to the foregoing embodiment, which is not described herein again.

And step S904, when the unbalance loading detection result of the target robot indicates that the target robot has no unbalance loading, executing the loading operation of the target robot.

According to the robot carrying method provided by the embodiment of the invention, before the target robot carries out carrying operation, the unbalance loading detection is firstly carried out on the target robot, and the unbalance loading detection result obtained by the robot unbalance loading detection method is reliable, so that the safety of the robot in the process of carrying goods can be effectively guaranteed.

For convenience of understanding, the embodiment of the present invention further provides a specific implementation example of a robot loading method, and referring to a schematic flow chart of another robot loading method shown in fig. 10, the method mainly includes the following steps S1002 to S1020:

and step S1002, receiving a goods shelf jacking task.

Step S1004, a forced unbalance loading detection point is configured.

In one embodiment, the forced unbalance loading detection point location is a shelf location for unbalance loading detection, that is, when the robot lifts the shelf located at the forced unbalance loading detection point location, unbalance loading detection must be performed, and a user can determine different forced unbalance loading detection point locations according to different requirements.

Step S1006, judging whether the shelf ID is normal; if not, executing step S1008; otherwise, step S1010 is performed.

In an embodiment, when the jacking racking task received by the robot carries a racking ID to be jacked, when the robot reaches the position of the racking, it needs to first determine whether the ID of the racking to be jacked is consistent with the racking ID in the received jacking racking task, that is, determine whether the racking ID is normal. In practical application, two-dimensional codes are arranged below each goods shelf and carry goods shelf ID information, the robot can acquire the ID of the goods shelf to be lifted through scanning the two-dimensional codes, and then whether the ID is consistent with the received goods shelf ID in the task of lifting the goods shelf is judged through a comparison mode.

In step S1008, a data exception handling operation is performed.

If the shelf ID of the shelf to be lifted is not consistent with the shelf ID in the received shelf lifting task, the traveling direction of the robot is wrong, and the robot can be controlled to move to the correct shelf position again.

And step S1010, carrying out goods shelf lifting operation. If the shelf ID of the shelf to be lifted is normal, the robot is indicated to travel to the correct shelf position, and therefore the operation of lifting the shelf can be performed.

Step S1012, determining whether the position is at a forced unbalance loading detection point; if yes, go to step S1014; otherwise, step S1016 is performed.

Step 1014, executing an unbalance loading detection operation, and judging whether unbalance loading exists; if yes, go to step S1018; otherwise, step S1016 is performed. The manner of determining whether the offset load exists may refer to the foregoing embodiments, and will not be described herein again.

In step S1016, a loading process is performed to complete the jacking task.

And step S1018, executing the goods shelf unloading operation, stopping the robot from running and sending an alarm message to wait for manual processing.

In step S1020, the manual processing is completed, the robot resumes operation, and the process returns to step S1004.

The principle of implementation and the technical effects of the method for detecting robot unbalance loading used in the above method are the same as those of the foregoing embodiment, and for the sake of brief description, no mention is made in this embodiment, and reference may be made to the corresponding contents in the foregoing method embodiment.

According to the method, before the robot carries out the loading operation, the robot is subjected to unbalance loading detection, and the loading operation is carried out when the fact that the robot does not have unbalance loading is confirmed, so that the safety of the robot in the process of carrying goods can be guaranteed.

Example four:

for the method for detecting the robot unbalance loading provided in the second embodiment, an embodiment of the present invention provides a device for detecting the robot unbalance loading, referring to a schematic structural diagram of the device for detecting the robot unbalance loading shown in fig. 11, the device includes the following modules:

the angle obtaining module 1102 is configured to obtain, through an inertia measurement unit of the robot to be detected, first pitch angles in a plurality of designated directions before the robot to be detected lifts an article and second pitch angles in the plurality of designated directions when the robot to be detected lifts the article.

And a difference calculation module 1104, configured to calculate, for each designated direction, a pitch angle difference between a first pitch angle and a second pitch angle corresponding to the designated direction.

And a detection result determining module 1106, configured to determine an unbalance loading detection result of the robot to be detected based on the pitch angle difference corresponding to each specified direction.

According to the detection device for the robot unbalance loading provided by the embodiment of the invention, the pitch angles before and after the robot lifts an article are obtained through the standard matching induction device-inertia measurement unit which is arranged on the robot to be detected, and then the unbalance loading detection result of the robot to be detected is determined through the pitch angle difference value, on one hand, an additional unbalance loading detection sensor is not required to be added, the complexity of the robot structure design and the robot cost are reduced, on the other hand, the inertia measurement unit cannot be in direct contact with a moving mechanism of the robot, so that the condition that the unbalance loading detection result precision is influenced due to the abrasion of the device cannot occur in the long-time repeated lifting, putting down and advancing processes of the robot, the requirement for detecting the unbalance loading for a long time can be met, and the reliability of the detection result is improved.

In an embodiment, the angle obtaining module 1102 is further configured to obtain, through an inertial measurement unit of the robot to be detected, first original pitch angles in a plurality of designated directions before the robot to be detected lifts an article, and second original pitch angles in the plurality of designated directions when the robot to be detected lifts the article; each appointed direction corresponds to a plurality of first original pitch angles and a plurality of second original pitch angles; for each appointed direction, filtering a plurality of first original pitch angles in the appointed direction to obtain a first pitch angle, and filtering a plurality of second original pitch angles in the appointed direction to obtain a second pitch angle.

In an embodiment, the angle obtaining module 1102 is further configured to calculate an angle difference between every two adjacent first raw pitch angles according to an acquisition order of the plurality of first raw pitch angles in the designated direction; determining a first original pitch angle corresponding to the angle difference value larger than a preset first threshold value as an invalid pitch angle; and filtering invalid pitch angles in the plurality of first original pitch angles, calculating an average value of the first original pitch angles left after filtering, and taking the average value result as the first pitch angle corresponding to the specified direction.

In an embodiment, the detection result determining module 1106 is further configured to compare the pitch angle difference corresponding to each designated direction with a preset second threshold value one by one; when the pitch angle difference value larger than the preset second threshold value does not exist, determining that the robot to be detected has no unbalance loading; and when the pitch angle difference value larger than the preset second threshold value exists, determining that the unbalance loading exists in the robot to be detected, and taking the appointed direction corresponding to the pitch angle difference value larger than the preset second threshold value as the unbalance loading direction of the robot to be detected.

In an embodiment, the apparatus further includes an alarm module, configured to perform an alarm operation or re-perform an unbalance loading detection operation when it is detected that the robot to be detected has the unbalance loading.

In one embodiment, the number of the designated directions is four, and the difference between two adjacent designated directions is 90 degrees.

For the robot loading method provided in the third embodiment, an embodiment of the present invention provides a robot loading device, referring to a schematic structural diagram of a robot loading device shown in fig. 12, where the device includes the following modules:

the unbalanced load detection module 1202 is configured to perform unbalanced load detection on the target robot by using the robot unbalanced load detection method provided in the foregoing embodiment when the target robot receives the loading instruction.

And an object carrying execution module 1204, configured to execute an object carrying operation of the target robot when the unbalance detection result of the target robot indicates that the target robot has no unbalance.

According to the robot carrying device provided by the embodiment of the invention, before the target robot carries out carrying operation, the unbalance loading detection is firstly carried out on the target robot, and the unbalance loading detection result obtained by the robot unbalance loading detection method is reliable, so that the safety of the robot in the process of carrying goods can be effectively guaranteed.

The device provided by the embodiment has the same implementation principle and technical effect as the foregoing embodiment, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiment for the portion of the embodiment of the device that is not mentioned.

In summary, according to the detection method for robot unbalance loading, the robot loading method, the device and the robot provided by the embodiment, the data is acquired by the inertial measurement unit of the standard matching induction device of the robot to be detected, so that the unbalance loading detection result of the robot to be detected is determined, on one hand, an additional unbalance loading detection sensor is not required to be added, and the complexity of the structural design of the robot and the robot cost are reduced; on the other hand, the inertia measurement unit can not be in direct contact with a moving mechanism of the robot, so that the condition that the precision of an unbalance loading detection result is influenced due to device abrasion can not occur in the long-time repeated jacking, putting down and advancing processes of the robot, the requirement of detecting the unbalance loading for a long time can be met, and the reliability of the detection result is improved. In addition, before the object robot carries out the thing operation, can carry out the unbalance loading to the object robot at first and detect, just carry out the thing operation when confirming the robot does not have the unbalance loading to can ensure the security of robot delivery goods in-process.

The method for detecting robot unbalance loading, the method for loading the robot, the device for detecting robot unbalance loading, and the computer program product for the robot provided by the embodiments of the present invention include a computer readable storage medium storing program codes, instructions included in the program codes may be used to execute the method described in the foregoing method embodiments, and specific implementations may refer to the method embodiments and will not be described herein again.

In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: those skilled in the art can still make modifications or changes to the embodiments described in the foregoing embodiments, or make equivalent substitutions for some features, within the scope of the disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A method for detecting robot unbalance loading is characterized by comprising the following steps:

respectively acquiring first pitch angles in a plurality of appointed directions before the robot to be detected lifts an article and second pitch angles in the plurality of appointed directions when the robot to be detected lifts the article through an inertia measurement unit of the robot to be detected;

for each appointed direction, respectively calculating a pitch angle difference value between a first pitch angle and a second pitch angle corresponding to the appointed direction;

and determining an unbalance loading detection result of the robot to be detected based on the pitch angle difference value corresponding to each appointed direction.

2. The method according to claim 1, wherein the obtaining, by an inertial measurement unit of the robot to be detected, first pitch angles in a plurality of designated directions before the robot to be detected lifts an article and second pitch angles in the plurality of designated directions when the robot to be detected lifts the article respectively comprises:

respectively acquiring first original pitch angles in a plurality of appointed directions before the robot to be detected lifts an article and second original pitch angles in the plurality of appointed directions when the robot to be detected lifts the article through an inertia measurement unit of the robot to be detected; each appointed direction corresponds to a plurality of first original pitch angles and a plurality of second original pitch angles;

and for each appointed direction, filtering the plurality of first original pitch angles in the appointed direction to obtain a first pitch angle, and filtering the plurality of second original pitch angles in the appointed direction to obtain a second pitch angle.

3. The method of claim 2, wherein filtering a plurality of the first raw pitch angles for the given direction to obtain a first pitch angle comprises:

calculating an angle difference value between every two adjacent first original pitch angles according to the acquisition sequence of the plurality of first original pitch angles in the specified direction;

determining the first original pitch angle corresponding to the angle difference value larger than a preset first threshold value as an invalid pitch angle;

and filtering the invalid pitch angles in the plurality of first original pitch angles, solving a mean value of the first original pitch angles left after filtering, and taking a mean value result as the first pitch angle corresponding to the specified direction.

4. The method according to claim 1, wherein determining the unbalance loading detection result of the robot to be detected based on the pitch angle difference corresponding to each designated direction comprises:

comparing the pitch angle difference value corresponding to each appointed direction with a preset second threshold value one by one;

when the pitch angle difference value larger than the preset second threshold value does not exist, determining that the robot to be detected has no unbalance loading;

and when the pitch angle difference value larger than the preset second threshold value exists, determining that the unbalance loading exists in the robot to be detected, and taking the appointed direction corresponding to the pitch angle difference value larger than the preset second threshold value as the unbalance loading direction of the robot to be detected.

5. The method of claim 4, further comprising:

and when the robot to be detected has unbalance loading, executing alarm operation or re-executing unbalance loading detection operation.

6. The method according to claim 1, wherein the number of the designated directions is four, and the difference between two adjacent designated directions is 90 degrees.

7. A method for loading a workpiece by a robot, comprising:

when a target robot receives a loading command, carrying out unbalanced loading detection on the target robot by adopting the method of any one of claims 1 to 6;

and when the unbalance loading detection result of the target robot indicates that the target robot has no unbalance loading, executing the loading operation of the target robot.

8. A detection device for robot unbalance loading is characterized by comprising:

the angle acquisition module is used for respectively acquiring first pitch angles in a plurality of specified directions before the robot to be detected lifts an article and second pitch angles in the plurality of specified directions when the robot to be detected lifts the article through an inertia measurement unit of the robot to be detected;

the difference value calculating module is used for calculating a pitch angle difference value between a first pitch angle and a second pitch angle corresponding to each appointed direction respectively for each appointed direction;

and the detection result determining module is used for determining the unbalance loading detection result of the robot to be detected based on the pitch angle difference value corresponding to each specified direction.

9. A robotic loading device, comprising:

an unbalanced load detection module, configured to perform unbalanced load detection on a target robot by using the method according to any one of claims 1 to 6 when the target robot receives a loading instruction;

and the object carrying execution module is used for executing the object carrying operation of the target robot when the unbalance load detection result of the target robot indicates that the target robot has no unbalance load.

10. A processor, wherein the processor is operable to perform the method of any one of claims 1 to 6 or the method of claim 7.

11. A robot, characterized in that the robot is provided with a processor according to claim 10.

12. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, performs the method of any one of claims 1 to 6 or the method of claim 7.