WO2019047020A1

WO2019047020A1 - Automatic loading and unloading method and apparatus, and device having storage function

Info

Publication number: WO2019047020A1
Application number: PCT/CN2017/100547
Authority: WO
Inventors: 张�浩; 蓝幸彬; 张倍
Original assignee: 深圳蓝胖子机器人有限公司
Priority date: 2017-09-05
Filing date: 2017-09-05
Publication date: 2019-03-14
Also published as: CN109071114A; CN109071114B

Abstract

An automatic loading and unloading method and apparatus, and a device having a storage function. The method comprises: obtaining from a first position by a robot at least one freight to be placed (S11); and placing the freight to be placed to a second position (S13). A storage mechanism (202) is relatively fixed to a mechanical arm (201) of the robot (20), and drives the mechanical arm (201) to move in a freight compartment (30). A transport mechanism (40) extends into the freight compartment (30) according to the position of the robot (20). The labor cost for loading and unloading can be reduced and the efficiency of loading and unloading is improved by the described manner.

Description

一种自动装卸货的方法、设备及具有存储功能的装置 Method, device and device with automatic storage function for automatic loading and unloading

【技术领域】[Technical Field]

本发明涉及机器人技术领域，特别是涉及一种自动装卸货的方法、设备及具有存储功能的装置。The present invention relates to the field of robot technology, and in particular, to a method and device for automatic loading and unloading, and a device having a storage function.

【背景技术】【Background technique】

传统的货运或物流行业中，通常是采用人工装卸货，工人从仓库中将货物搬运到货舱内，并将货物摆放整齐，或者将货舱内的货物搬运到仓库中。但是，随着社会的进步，用工成本也在不断提升，而且工人的工作强度大，工作效率会随着工人体力消耗而降低，导致装卸货人工成本高、效率低的问题。In the traditional freight or logistics industry, manual loading and unloading is usually used. Workers carry goods from the warehouse into the cargo hold, place the goods neatly, or transport the goods in the cargo hold to the warehouse. However, with the advancement of society, the cost of labor is also constantly increasing, and the work intensity of workers is large, and the work efficiency will decrease with the physical exertion of workers, resulting in high labor costs and low efficiency of loading and unloading.

【发明内容】 [Summary of the Invention]

本发明主要解决的技术问题是提供一种自动装卸货的方法、设备及具有存储功能的装置，能够解决传统人工装卸货人工成本高、效率低的问题。The technical problem to be solved by the present invention is to provide a method and a device for automatically loading and unloading goods and a device having a storage function, which can solve the problems of high labor cost and low efficiency of the conventional manual loading and unloading.

为解决上述技术问题，本发明采用的一个技术方案是：提供一种自动装卸货的方法，包括：机器人从第一位置取得至少一个待放置货物；将待放置货物放置到第二位置；其中，当机器人在货舱中装货时，第一位置是在机器人的储货机构中，或者在与储货机构对接的传送机构中，用于放置待放置货物的初始位置，第二位置是货舱中放置待放置货物的目标位置；当机器人在货舱中卸货时，第一位置是货舱中放置待放置货物的初始位置，第二位置是在机器人的储货机构中，或者在与储货机构对接的传送机构中，用于放置待放置货物的目标位置；储货机构相对固定于机器人的机械臂，带动机械臂在货舱中运动；传送机构根据机器人的位置延伸到货舱内。In order to solve the above technical problem, a technical solution adopted by the present invention is to provide a method for automatically loading and unloading, comprising: the robot acquiring at least one item to be placed from a first position; and placing the item to be placed in a second position; When the robot is loading in the cargo hold, the first position is in the robot's storage mechanism, or in the transport mechanism docked with the storage mechanism, the initial position for placing the goods to be placed, and the second position is placed in the cargo hold The target position of the goods to be placed; when the robot unloads in the cargo hold, the first position is the initial position in which the goods to be placed are placed in the cargo hold, and the second position is in the storage mechanism of the robot or in the transfer with the storage mechanism In the mechanism, the target position for placing the goods to be placed; the storage mechanism is relatively fixed to the robot arm of the robot to drive the arm to move in the cargo hold; and the transfer mechanism extends into the cargo hold according to the position of the robot.

为解决上述技术问题，本发明采用的另一个技术方案是：提供一种具有存储功能的装置，存储有程序，该程序被执行以实现如上所述的方法。In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a device having a storage function, which stores a program, which is executed to implement the method as described above.

为解决上述技术问题，本发明采用的又一个技术方案是：提供一种自动装卸货设备，包括：机器人和传送机构，机器人包括机械臂和储货机构，储货机构相对固定于机器臂；机器臂用于从第一位置取得至少一个待放置货物，并将待放置货物放置到第二位置；储货机构用于放置待放置货物，并带动机械臂在货舱内运动；传送机构用于传送待放置货物，传送机构根据机器人的位置延伸到货舱内；其中，当机器人在货舱中装货时，第一位置是在机器人的储货机构中，或者在与储货机构对接的传送机构中，用于放置待放置货物的初始位置，第二位置是货舱中放置待放置货物的目标位置；当机器人在货舱中卸货时，第一位置是货舱中放置待放置货物的初始位置，第二位置是在机器人的储货机构中，或者在与储货机构对接的传送机构中，用于放置待放置货物的目标位置。In order to solve the above technical problem, another technical solution adopted by the present invention is to provide an automatic loading and unloading device, comprising: a robot and a conveying mechanism, the robot includes a mechanical arm and a storage mechanism, and the storage mechanism is relatively fixed to the robot arm; The arm is configured to take at least one item to be placed from the first position and place the item to be placed to the second position; the storage mechanism is used for placing the goods to be placed, and the mechanical arm is moved in the cargo space; the conveying mechanism is configured to transmit The cargo is placed, and the transport mechanism extends into the cargo space according to the position of the robot; wherein, when the robot is loaded in the cargo hold, the first position is in the robot's storage mechanism, or in the transport mechanism docked with the storage mechanism, In the initial position where the goods to be placed are placed, the second position is the target position in which the goods to be placed are placed in the cargo hold; when the robot is unloaded in the cargo hold, the first position is the initial position in which the goods to be placed are placed in the cargo hold, and the second position is In the storage mechanism of the robot, or in the transport mechanism docked with the storage mechanism, for placing the goods to be placed Landmark location.

本发明的有益效果是：区别于现有技术的情况，本发明的实施例中机器人从第一位置取得至少一个待放置货物，并将待放置货物放置到第二位置；其中，当机器人在货舱中装货时，第一位置是在机器人的储货机构中，或者在与储货机构对接的传送机构中，用于放置待放置货物的初始位置，第二位置是货舱中放置待放置货物的目标位置；当机器人在货舱中卸货时，第一位置是货舱中放置待放置货物的初始位置，第二位置是在机器人的储货机构中，或者在与储货机构对接的传送机构中，用于放置待放置货物的目标位置；储货机构相对固定于机器人的机械臂，带动机械臂在货舱中运动；传送机构根据机器人的位置延伸到货舱内。通过上述方式，本发明的实施例中采用机器人替代人工自动装卸货，并利用延伸的传送机构输送货物，降低装卸货过程中的人工参与成份，从而降低装卸货的人工成本，而且机器人不存在体力消耗的问题，可以长时间工作，进而可以提高装卸货的效率。The beneficial effects of the present invention are: different from the prior art, in which the robot obtains at least one item to be placed from the first position and places the item to be placed into the second position; wherein, when the robot is in the cargo hold In the middle loading, the first position is in the robot's storage mechanism, or in the conveying mechanism docked with the storage mechanism, the initial position for placing the goods to be placed, and the second position is to place the goods to be placed in the cargo compartment. Target position; when the robot unloads in the cargo hold, the first position is the initial position in the cargo hold where the goods to be placed, the second position is in the robot's storage mechanism, or in the transfer mechanism docked with the storage mechanism, The target position of the goods to be placed is placed; the storage mechanism is fixed to the robot arm of the robot to drive the arm to move in the cargo hold; and the transfer mechanism extends into the cargo hold according to the position of the robot. In the above manner, the embodiment of the present invention adopts a robot instead of manual automatic loading and unloading, and uses an extended conveying mechanism to transport goods, thereby reducing manual participation components in the loading and unloading process, thereby reducing the labor cost of loading and unloading, and the robot does not have physical strength. The problem of consumption can be worked for a long time, which can improve the efficiency of loading and unloading.

【附图说明】 [Description of the Drawings]

图1是本发明自动装卸货的方法第一实施例的流程示意图；1 is a schematic flow chart of a first embodiment of a method for automatically loading and unloading the present invention;

图2是机器人在货舱中装货场景示意图；Figure 2 is a schematic view of the loading scene of the robot in the cargo hold;

图3是机器人在货舱中卸货场景示意图；Figure 3 is a schematic view of the robot unloading in the cargo hold;

图4是本发明自动装卸货的方法第二实施例的流程示意图；4 is a schematic flow chart of a second embodiment of the method for automatically loading and unloading the present invention;

图5是本发明自动装卸货的方法第三实施例的流程示意图；Figure 5 is a schematic flow chart of a third embodiment of the method for automatically loading and unloading the present invention;

图6是本发明自动装卸货的方法第四实施例的流程示意图；6 is a schematic flow chart of a fourth embodiment of the method for automatically loading and unloading the present invention;

图7是本发明自动装卸货的方法第五实施例的流程示意图；7 is a schematic flow chart of a fifth embodiment of the method for automatically loading and unloading the present invention;

图8是储货机构和传送机构连接位置的结构俯视示意图；Figure 8 is a top plan view showing the structure of the connection position of the storage mechanism and the transport mechanism;

图9是本发明自动装卸货的方法第六实施例的流程示意图；9 is a schematic flow chart of a sixth embodiment of the method for automatically loading and unloading the present invention;

图10是本发明自动装卸货的方法第七实施例的流程示意图；10 is a schematic flow chart of a seventh embodiment of the method for automatically loading and unloading the present invention;

图11是本发明自动装卸货的方法第八实施例的流程示意图；11 is a schematic flow chart of an eighth embodiment of a method for automatically loading and unloading the present invention;

图12是本发明自动装卸货的方法第九实施例的流程示意图；Figure 12 is a schematic flow chart of a ninth embodiment of the method for automatic loading and unloading of the present invention;

图13是本发明自动装卸货的方法第十实施例的流程示意图；Figure 13 is a schematic flow chart of a tenth embodiment of the method for automatic loading and unloading of the present invention;

图14是本发明自动装卸货的方法第十一实施例的流程示意图；Figure 14 is a flow chart showing the eleventh embodiment of the method for automatic loading and unloading of the present invention;

图15是储货机构和传送机构对接位置设置的约束件的结构俯视示意图；Figure 15 is a top plan view showing the structure of the restraining member provided at the docking position of the storage mechanism and the conveying mechanism;

图16是本发明自动装卸货的方法第十二实施例的流程示意图；Figure 16 is a flow chart showing the twelfth embodiment of the method for automatic loading and unloading of the present invention;

图17是本发明自动装卸货的方法第十三实施例的流程示意图；Figure 17 is a flow chart showing the thirteenth embodiment of the method for automatic loading and unloading of the present invention;

图18是本发明自动装卸货设备第一实施例的结构示意图；Figure 18 is a schematic view showing the structure of the first embodiment of the automatic loading and unloading apparatus of the present invention;

图19是本发明自动装卸货设备第二实施例的结构示意图；Figure 19 is a schematic structural view of a second embodiment of the automatic loading and unloading apparatus of the present invention;

图20是本发明自动装卸货设备第三实施例的结构示意图；Figure 20 is a schematic structural view of a third embodiment of the automatic loading and unloading apparatus of the present invention;

图21是本发明自动装卸货设备第四实施例的结构示意图；Figure 21 is a schematic structural view of a fourth embodiment of the automatic loading and unloading apparatus of the present invention;

图22是本发明自动装卸货设备第五实施例的结构示意图；Figure 22 is a schematic structural view of a fifth embodiment of the automatic loading and unloading apparatus of the present invention;

图23是本发明自动装卸货设备第六实施例的结构示意图；Figure 23 is a schematic structural view of a sixth embodiment of the automatic loading and unloading apparatus of the present invention;

图24是本发明自动装卸货设备第七实施例的结构示意图；Figure 24 is a schematic structural view of a seventh embodiment of the automatic loading and unloading apparatus of the present invention;

图25是本发明自动装卸货设备第八实施例的结构示意图；Figure 25 is a schematic structural view of an eighth embodiment of the automatic loading and unloading apparatus of the present invention;

图26是本发明自动装卸货设备第九实施例的结构示意图；Figure 26 is a schematic structural view of a ninth embodiment of the automatic loading and unloading apparatus of the present invention;

图27是本发明具有存储功能的装置一实施例的结构示意图。Figure 27 is a block diagram showing an embodiment of an apparatus having a storage function according to the present invention.

【具体实施方式】【Detailed ways】

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

请参阅图1，本发明自动装卸货的方法第一实施例包括：Referring to FIG. 1, a first embodiment of the method for automatically loading and unloading the present invention includes:

S11：机器人从第一位置取得至少一个待放置货物；S11: The robot obtains at least one item to be placed from the first position;

S13：将待放置货物放置到第二位置；S13: placing the goods to be placed into the second position;

其中，当机器人在货舱中装货时，第一位置是在机器人的储货机构中，或者在与储货机构对接的传送机构中，用于放置该待放置货物的初始位置，第二位置是货舱中放置该待放置货物的目标位置。当机器人在货舱中卸货时，第一位置是货舱中放置该待放置货物的初始位置，第二位置是在机器人的储货机构中，或者在与储货机构对接的传送机构中，用于放置该待放置货物的目标位置。Wherein, when the robot is loading in the cargo hold, the first position is in the robot's storage mechanism, or in the transport mechanism docked with the storage mechanism, for placing the initial position of the goods to be placed, the second position is The target position of the goods to be placed is placed in the cargo hold. When the robot unloads in the cargo hold, the first position is the initial position in which the goods to be placed are placed in the cargo hold, and the second position is in the storage mechanism of the robot or in the transfer mechanism docked with the storage mechanism for placing The target location of the goods to be placed.

储货机构相对固定于机器人的机械臂，带动机械臂在货舱中运动。传送机构根据机器人的位置延伸到货舱内。The storage mechanism is relatively fixed to the robot arm of the robot, and drives the robot arm to move in the cargo compartment. The transfer mechanism extends into the cargo hold according to the position of the robot.

其中，该传送机构可以是仓库的传送机构延伸出来的传送机构，也可以是一端与所述仓库中的传送机构对接，另一端与所述储货机构对接的单独传送机构。The transport mechanism may be a transport mechanism extending from the transport mechanism of the warehouse, or may be a separate transport mechanism in which one end is docked with the transport mechanism in the warehouse and the other end is docked with the storage mechanism.

具体地，货舱可以是陆运货车的车舱、拖车或者集装箱，该集装箱可以装载在车辆、船只或飞机上，以实现陆运、海运或空运。在一个应用例中，如图2所示，货车移动至仓库门前或者仓库中，准备装卸货时，机器人20检测到货车到达装卸货位置，自主导航，移动到货舱30中。其中，机器人20包括机械臂201和储货机构202，储货机构202相对固定连接于机械臂201，该储货机构202移动并带动连接于其上的机械臂201移动到货舱30中，同时传送机构40连接于该储货机构202，被动跟随该机器20延伸到货舱30中。Specifically, the cargo hold may be a cabin, trailer or container of a land freight truck that may be loaded on a vehicle, vessel or aircraft for land, sea or air transport. In one application, as shown in FIG. 2, when the truck moves to the front of the warehouse or in the warehouse to prepare for loading and unloading, the robot 20 detects that the truck arrives at the loading and unloading position, navigates autonomously, and moves into the cargo bay 30. The robot 20 includes a robot arm 201 and a storage mechanism 202. The storage mechanism 202 is relatively fixedly coupled to the robot arm 201. The storage mechanism 202 moves and drives the robot arm 201 connected thereto to move into the cargo compartment 30 while transmitting. The mechanism 40 is coupled to the storage mechanism 202 and passively follows the machine 20 into the cargo bay 30.

当机器人20移入货舱30过程中，机器人20利用感知装置203，例如视觉传感器，获取机器人20周围的空间数据，以得到货舱30中的空间数据，进行自主导航，避开障碍物，移动到目标区域301的工作位置A。其中，该感知装置203可以设置于机械臂201，也可以设置于货舱30中，机器人20可以与该感知装置203通信以直接获取机器人20周围或货舱30中的空间数据，也可以通过控制***（图未示）获取感知装置203上报的空间数据，此处不做具体限定。During the movement of the robot 20 into the cargo bay 30, the robot 20 acquires spatial data around the robot 20 using the sensing device 203, such as a visual sensor, to obtain spatial data in the cargo bay 30, perform autonomous navigation, avoid obstacles, and move to the target area. Working position A of 301. The sensing device 203 can be disposed in the robot arm 201 or in the cargo bay 30. The robot 20 can communicate with the sensing device 203 to directly acquire spatial data in the periphery of the robot 20 or in the cargo bay 30, or through a control system ( The spatial data reported by the sensing device 203 is not shown in the figure.

进一步参阅图2，当机器人20到达目标区域301的工作位置A准备装货时，机器人20利用机械臂201从第一位置204取得至少一个待放置货物B，并将待放置货物B放置到第二位置302。其中，机器人20在装货时，从储货机构202中获取待放置货物B，一方面，由于传送机构40的传送速度通常高于机器人20放置货物的速度，该储货机构202可以储存部分货物，另一方面，以便于机器人20进行空间规划，同时不需要降低传送速度，提高装货的效率。当待放置货物B外形规则（例如均是方形）时，机器人20可以获取货舱30的尺寸（例如长宽高），规划当前待放置货物B的放置位置，即第二位置302，如将待放置货物B一排排或一列列摆放，以达到较高的空间利用率。当然，在其他实施例中，机器人也可以直接从传送机构40上获取待放置货物B，机器人20选取待放置货物B以及其第二位置302时，也可以根据当前货舱30中未放置货物的空间数据计算当前需要获持的待放置货物B，以及在该货舱30中放置该待放置货物B的第二位置302，还可以根据待放置货物B的形态（例如不规则、可压缩形态）或货物类型（例如易碎品）等货物信息，选取该第二位置302，以将可承重的货物放在底部，提高摆放质量及效率。Referring further to FIG. 2, when the robot 20 reaches the working position A of the target area 301 to prepare for loading, the robot 20 uses the robot arm 201 to take at least one item B to be placed from the first position 204, and places the item B to be placed to the second. Location 302. Wherein, the robot 20 obtains the goods to be placed B from the storage mechanism 202 when loading, and on the one hand, the storage mechanism 202 can store part of the goods because the conveying speed of the conveying mechanism 40 is generally higher than the speed at which the robot 20 places the goods. On the other hand, in order to facilitate the space planning of the robot 20, it is not necessary to reduce the conveying speed and improve the efficiency of loading. When the shape of the goods to be placed B is regular (for example, square), the robot 20 can acquire the size (for example, length, width and height) of the cargo bay 30, and plan the placement position of the current cargo B to be placed, that is, the second position 302, if it is to be placed. Goods B are placed in rows or columns to achieve high space utilization. Of course, in other embodiments, the robot can also obtain the cargo B to be placed directly from the transport mechanism 40. When the robot 20 selects the cargo B to be placed and its second position 302, it can also be based on the space in the current cargo bay 30 where no cargo is placed. The data calculates the goods B to be held that are currently required to be held, and the second position 302 in which the goods B to be placed are placed in the cargo hold 30, and may also be in accordance with the form of the goods B to be placed (for example, irregular, compressible form) or goods. For cargo information such as type (such as fragile goods), the second position 302 is selected to place the load-bearing goods on the bottom to improve the placement quality and efficiency.

如图3所示，当机器人20到达目标区域301的工作位置A准备卸货时，机器人20利用机械臂201从最接近货舱30顶部的一排货物中选择一个第一位置303，取得至少一个待放置货物B，并将待放置货物B放置到传送机构40的第二位置401，以利用传送机构40将该待放置货物B传送到仓库中。当然，在其他应用例中，机器人20也可以将该待放置货物B先放置在储货机构202中，再从储货机构202中使货物移动到传送机构40，此处不做具体限定。As shown in FIG. 3, when the robot 20 reaches the working position A of the target area 301 to prepare for unloading, the robot 20 uses the robot arm 201 to select a first position 303 from a row of goods closest to the top of the cargo hold 30 to obtain at least one to be placed. The goods B, and the goods B to be placed are placed in the second position 401 of the conveying mechanism 40 to transfer the goods B to be placed into the warehouse by the conveying mechanism 40. Of course, in other applications, the robot 20 can also place the goods to be placed B in the storage mechanism 202 first, and then move the goods from the storage mechanism 202 to the transport mechanism 40, which is not specifically limited herein.

在其他实施例中，机器人20可以先移动到工作位置，该传送机构40根据该机器人20的位置信息主动延伸到货舱30中，与该机器人20的储货机构202对接，以传送待放置货物。其中，传送机构40可以直接与机器人20通信，以获取该机器人20的位置信息，或者从控制***（图未示）获取机器人20上报的位置信息，此处不做具体限定。In other embodiments, the robot 20 can be moved to the working position first. The transport mechanism 40 actively extends into the cargo bay 30 according to the position information of the robot 20, and docks with the storage mechanism 202 of the robot 20 to transfer the goods to be placed. The transmission mechanism 40 can directly communicate with the robot 20 to acquire the position information of the robot 20 or obtain the position information reported by the robot 20 from a control system (not shown), which is not specifically limited herein.

本实施例中，机器人从第一位置取得至少一个待放置货物，并将待放置货物放置到第二位置。其中，当机器人在货舱中装货时，第一位置是在机器人的储货机构中，或者在与储货机构对接的传送机构中，用于放置待放置货物的初始位置，第二位置是货舱中放置待放置货物的目标位置。当机器人在货舱中卸货时，第一位置是货舱中放置待放置货物的初始位置，第二位置是在机器人的储货机构中，或者在与储货机构对接的传送机构中，用于放置待放置货物的目标位置。储货机构相对固定于机器人的机械臂，带动机械臂在货舱中运动。传送机构根据机器人的位置延伸到货舱内。从而采用机器人替代人工自动装卸货，并利用延伸的传送机构输送货物，降低装卸货过程中的人工参与成份，进而降低装卸货的人工成本，而且机器人不存在体力消耗的问题，可以长时间工作，进而可以提高装卸货的效率。In this embodiment, the robot takes at least one item to be placed from the first position and places the item to be placed into the second position. Wherein, when the robot is loading in the cargo hold, the first position is in the robot's storage mechanism, or in the transport mechanism docked with the storage mechanism, the initial position for placing the goods to be placed, and the second position is the cargo hold Place the target location of the goods to be placed. When the robot unloads in the cargo hold, the first position is the initial position in which the goods to be placed are placed in the cargo hold, and the second position is in the storage mechanism of the robot or in the transfer mechanism docked with the storage mechanism for placing The target location where the goods are placed. The storage mechanism is relatively fixed to the robot arm of the robot, and drives the robot arm to move in the cargo compartment. The transfer mechanism extends into the cargo hold according to the position of the robot. Therefore, the robot is used instead of the manual automatic loading and unloading, and the extended conveying mechanism is used to transport the goods, thereby reducing the manual participation components in the loading and unloading process, thereby reducing the labor cost of loading and unloading, and the robot does not have the problem of physical exertion, and can work for a long time. In turn, the efficiency of loading and unloading can be improved.

如图4所示，本发明自动装卸货的方法第二实施例是在本发明自动装卸货的方法第一实施例的基础上，步骤S11之前，进一步包括：As shown in FIG. 4, the second embodiment of the method for automatic loading and unloading of the present invention is based on the first embodiment of the method for automatic loading and unloading of the present invention. Before step S11, the method further includes:

S101：机器人沿垂直货舱门的方向移动到货舱的目标区域，以使得传送机构跟随机器人移入货舱。S101: The robot moves to the target area of the cargo hold in the direction of the vertical cargo door so that the conveying mechanism follows the robot to move into the cargo hold.

其中，在机器人移动到目标区域前，传送机构相对固定于储货机构，跟随机器人被动延伸到货舱内。Wherein, before the robot moves to the target area, the conveying mechanism is relatively fixed to the storage mechanism, and the following robot passively extends into the cargo compartment.

具体地，结合图2所示，在一个应用例中，机器人20检测到货车到达装卸货位置时，机器人20自主导航，沿垂直货舱门的方向，如图2中的x轴方向，移动到货舱30中的目标区域301，即机器人20的工作区域，此过程中，传送机构40固定连接于储货机构202，跟随机器人40被动延伸到货舱30内，以传送待放置货物B。其中，传送机构40可以通过铰链或卡扣的方式与储货机构202连接。当然，在其他应用例中，传送机构40也可以采用其他方式与储货机构202连接，此处不做具体限定。Specifically, in conjunction with FIG. 2, in an application example, when the robot 20 detects that the truck arrives at the loading and unloading position, the robot 20 autonomously navigates to the cargo compartment in the direction of the vertical cargo door, as shown in the x-axis direction of FIG. The target area 301 in 30, that is, the work area of the robot 20, in the process, the transport mechanism 40 is fixedly coupled to the stocking mechanism 202, and the following robot 40 passively extends into the cargo bay 30 to transport the goods B to be placed. Wherein, the conveying mechanism 40 can be connected to the storage mechanism 202 by means of a hinge or a buckle. Of course, in other applications, the transport mechanism 40 may be connected to the storage mechanism 202 in other manners, which is not specifically limited herein.

在其他实施例中，机器人也可以先移动到目标区域，传送机构再根据机器人的位置信息主动延伸到货舱中。In other embodiments, the robot may also move to the target area first, and the transport mechanism actively extends into the cargo hold according to the position information of the robot.

具体如图5所示，本发明自动装卸货的方法第三实施例是在本发明自动装卸货的方法第一实施例的基础上，步骤S11之前，进一步包括：Specifically, as shown in FIG. 5, the third embodiment of the method for automatically loading and unloading the present invention is based on the first embodiment of the method for automatic loading and unloading of the present invention. Before step S11, the method further includes:

S102：机器人沿垂直货舱门的方向移动到货舱的目标区域；S102: the robot moves to the target area of the cargo hold in the direction of the vertical cargo door;

S103：机器人向传送机构/控制***发送机器人的位置信息和/或该目标区域，以使得传送机构确定与储货机构的对接位置；S103: the robot sends the position information of the robot and/or the target area to the transport mechanism/control system, so that the transport mechanism determines the docking position with the storage mechanism;

其中，传送机构利用机器人的位置信息和/或该目标区域计算对接位置后，或者传送机构接收控制***发送的对接位置后，主动延伸到对接位置，与储货机构对接。The transmitting mechanism uses the position information of the robot and/or the target area to calculate the docking position, or the transmitting mechanism receives the docking position sent by the control system, and then actively extends to the docking position to interface with the storage mechanism.

具体地，结合图2所示，在一个应用例中，机器人20先沿垂直货舱门的方向，如图2中的x轴方向，移动到目标区域301，然后机器人20向传送机构40发送自身的位置信息，例如位置坐标，传送机构40接收到该位置信息后，计算出与储货机构202的对接位置，并主动延伸到该对接位置，与储货机构实现对接。其中，机器人20的位置信息是通过机械臂201的视觉传感器203获得，该视觉传感器203设置于机械臂201或连接于机械臂201的末端执行器（图未示）；传送机构40可以通过铰链或卡扣的方式与储货机构202连接，传送机构40可以根据该位置信息和储货机构202的尺寸，计算出该对接位置，也可以根据控制***（图未示）发送的空间数据和该位置信息，计算出该对接位置，或者采用其他计算方法，此处不做具体限定。Specifically, in conjunction with FIG. 2, in one application, the robot 20 first moves in the direction of the vertical cargo door, as in the x-axis direction of FIG. 2, to the target area 301, and then the robot 20 transmits its own to the transfer mechanism 40. The location information, for example, the location coordinates, after the location information is received by the transmitting mechanism 40, calculates the docking position with the storage mechanism 202, and actively extends to the docking position to interface with the storage mechanism. The position information of the robot 20 is obtained by the visual sensor 203 of the robot arm 201. The visual sensor 203 is disposed on the robot arm 201 or an end effector (not shown) connected to the robot arm 201; the transport mechanism 40 can be hinged or The manner of the buckle is connected to the storage mechanism 202. The transport mechanism 40 can calculate the docking position according to the location information and the size of the storage mechanism 202, and can also transmit the spatial data and the location according to the control system (not shown). The information is calculated, and the docking position is calculated, or other calculation methods are used, and are not specifically limited herein.

当然，在其他应用例中，传送机构40也可以采用其他方式与储货机构202连接，机器人20也可以向传送机构40发送该目标区域，例如目标区域的标识和/或位置信息，传送机构40可以根据接收到的该目标区域，计算出对接位置，例如根据该目标区域和货舱30的空间数据（例如图像数据），利用图像处理计算出该对接位置，机器人20还可以向控制***（图未示）发送自身的位置信息和/或目标区域，由控制***计算该对接位置后，发送给传送机构40，此处不做具体限定。Of course, in other applications, the transport mechanism 40 may be connected to the storage mechanism 202 in other manners. The robot 20 may also transmit the target area, such as the identification and/or location information of the target area, to the transport mechanism 40. The transport mechanism 40 The docking position may be calculated according to the received target area, for example, according to the target area and the spatial data (for example, image data) of the cargo bay 30, the docking position is calculated by image processing, and the robot 20 may also be directed to the control system (not shown) The location information and/or the target area are transmitted by the control system, and then sent to the transmission mechanism 40, which is not specifically limited.

在其他实施例中，传送机构可以根据该目标区域信息，主动延伸到该目标区域边缘后，通知机器人移动到传送机构所在边缘位置，与该传送机构对接，此处不做具体限定。In other embodiments, the transmitting mechanism may actively extend to the edge of the target area according to the target area information, and notify the robot to move to the edge position of the transmitting mechanism, and dock with the transmitting mechanism, which is not specifically limited herein.

如图6所示，本发明自动装卸货的方法第四实施例是在本发明自动装卸货的方法第一实施例的基础上，机器人在货舱中装货时，步骤S13进一步包括：As shown in FIG. 6, the fourth embodiment of the method for automatically loading and unloading the present invention is based on the first embodiment of the method for automatic loading and unloading of the present invention. When the robot loads the cargo in the cargo compartment, step S13 further includes:

S131：获取在货舱中与待放置货物相匹配的第二位置；S131: Obtain a second position in the cargo hold that matches the goods to be placed;

具体地，结合图2所示，在一个应用例中，机器人20利用机械臂201上的视觉传感器203获取货舱30中的空间数据，例如采用该视觉传感器203拍摄的图像数据，进行图像处理后获取未放置货物的空间数据，与待放置货物B的尺寸和/或形状进行匹配，并选取与该待放置货物B的尺寸最接近的未放置货物的空间作为第二位置302。当然，在其他应用例中，机器人20也可以接收控制***（图未示）发送的第二位置，或者通过设置于货舱30中的感知装置获取该第二位置，其中，匹配该第二位置时，还可以考虑该待放置货物B的形态/货物类型等其他特性，此处不做具体限定。Specifically, in conjunction with FIG. 2, in one application example, the robot 20 acquires spatial data in the cargo bay 30 by using the visual sensor 203 on the robot arm 201, for example, using image data captured by the visual sensor 203, and performing image processing. The spatial data of the unloaded goods is matched with the size and/or shape of the goods B to be placed, and the space of the unplaced goods closest to the size of the goods B to be placed is selected as the second position 302. Of course, in other applications, the robot 20 may also receive a second position transmitted by a control system (not shown) or acquire the second position through a sensing device disposed in the cargo bay 30, wherein when the second position is matched Other characteristics such as the form/goods type of the goods B to be placed may also be considered, and are not specifically limited herein.

S132：规划从第一位置到第二位置的运动轨迹；S132: planning a motion track from the first position to the second position;

其中，该运动轨迹包括机械臂的运动路径（即该机械臂的各关节的转动角度）和运动时间（即转动速度）。Wherein, the motion track includes a motion path of the robot arm (ie, a rotation angle of each joint of the robot arm) and a motion time (ie, a rotation speed).

S133：机械臂根据该运动轨迹运动，将待放置货物放置到第二位置。S133: The robot arm moves according to the movement track to place the goods to be placed to the second position.

其中，机械臂包括末端执行器，该末端执行器可以是机械抓手或者真空吸盘等，此处不做具体限定。The mechanical arm includes an end effector, and the end effector may be a mechanical gripper or a vacuum suction cup or the like, which is not specifically limited herein.

具体地，机器人20根据获持该待放置货物B的第一位置204和放置该待放置货物B的目标位置302，即第二位置，规划从第一位置204到第二位置302的运动轨迹，即规划机械臂各关节的转动角度和转动速度，然后控制机械臂201根据该运动轨迹运动，即机械臂201各关节根据规划的转动速度转动规划的转动角度，从而将待放置货物B放置到第二位置302。Specifically, the robot 20 plans a motion trajectory from the first position 204 to the second position 302 according to the first position 204 where the goods B to be placed and the target position 302 where the goods B to be placed are placed, that is, the second position. That is, the rotation angle and the rotation speed of each joint of the robot arm are planned, and then the control arm 201 moves according to the movement trajectory, that is, the joints of the robot arm 201 rotate the planned rotation angle according to the planned rotation speed, thereby placing the to-be-placed goods B into the first Two positions 302.

可以理解的是，其他实施例中，可以仅包括运动路径，而不加转动速度的限定。It will be appreciated that in other embodiments, only the motion path may be included without the limitation of rotational speed.

本实施例还可以与本发明自动装卸货的方法第二或第三实施例相结合。This embodiment can also be combined with the second or third embodiment of the method of automatic loading and unloading of the present invention.

在其他实施例中，由于机械臂关节的运动范围有限，机器人还可以首先控制储货机构转动，以替代机械臂的运动，从而可以减少机械臂的运动量。In other embodiments, due to the limited range of motion of the mechanical arm joint, the robot can first control the rotation of the storage mechanism to replace the movement of the mechanical arm, thereby reducing the amount of movement of the mechanical arm.

具体如图7所示，本发明自动装卸货的方法第五实施例是在本发明自动装卸货的方法第四实施例的基础上，步骤S133进一步包括：Specifically, as shown in FIG. 7, the fifth embodiment of the method for automatically loading and unloading the present invention is based on the fourth embodiment of the method for automatic loading and unloading of the present invention. Step S133 further includes:

S1331：利用储货机构转动预定角度，以使得第二位置在机械臂的运动范围内；S1331: rotating a predetermined angle by using a storage mechanism such that the second position is within a range of motion of the robot arm;

其中，该预定角度是根据该第二位置获取的转动角度，具体取值根据实际需求而定，此处不做具体限定。The predetermined angle is a rotation angle obtained according to the second position, and the specific value is determined according to actual needs, and is not specifically limited herein.

具体地，结合图2所示，在一个应用例中，由于机械臂201的转动角度范围有限，导致机械臂201的运动范围受限，若第二位置302超出机械臂201的运动范围时，机器人20获取该第二位置302后，根据该第二位置302的位姿信息，包括位置和/或姿态，还可以包括周围障碍物信息，计算出储货机构202的转动角度（如-10度），则表示向左转动10度，然后机器人20控制储货机构202向左转动10度后，该第二位置302即在机械臂201的运动范围内，以便后续放置货物。当然，在其他实施例中，机器人也可以直接从控制***中获取储货机构转动的预定角度，即由控制***计算该预定角度，此处不做具体限定。Specifically, as shown in FIG. 2, in one application example, since the range of the rotation angle of the robot arm 201 is limited, the range of motion of the robot arm 201 is limited, and if the second position 302 exceeds the range of motion of the robot arm 201, the robot After acquiring the second position 302, according to the pose information of the second position 302, including the position and/or posture, the surrounding obstacle information may be further included, and the rotation angle of the storage mechanism 202 (for example, -10 degrees) is calculated. Then, it indicates that it is rotated 10 degrees to the left, and then the robot 20 controls the storage mechanism 202 to rotate 10 degrees to the left, which is within the range of motion of the robot arm 201, so as to subsequently place the goods. Of course, in other embodiments, the robot can also obtain the predetermined angle of rotation of the storage mechanism directly from the control system, that is, the predetermined angle is calculated by the control system, which is not specifically limited herein.

S1332：机械臂根据运动轨迹执行，将待放置货物放置到第二位置；S1332: The robot arm is executed according to the movement track, and the goods to be placed are placed in the second position;

其中，储货机构相对传送机构转动预定角度后，储货机构与传送机构之间利用连接件相对固定连接，储货机构与传送机构连接位置的宽度大于传送机构的宽度。Wherein, after the storage mechanism is rotated by a predetermined angle with respect to the conveying mechanism, the storage mechanism and the conveying mechanism are relatively fixedly connected by the connecting member, and the width of the connection position of the storage mechanism and the conveying mechanism is greater than the width of the conveying mechanism.

具体地，结合图8所示，在该储货机构202相对于该传送机构40转动过程中，储货机构202与传送机构40连接位置的宽度L1始终大于传送机构40的宽度L2，从而可以防止传送机构40上传送的货物输送到储货机构202时掉落。其中，储货机构202和传送机构40之间利用连接件50相对固定连接，该连接件50可以是铰链或卡扣等；在储货机构202需要转动时，该连接件50可以从储货机构202或者传送机构40上解锁，在储货机构202相对传送机构40转动预定角度后，再重新锁定储货机构202或者传送机构40。在其他实施例中，该连接件也可以是其他元件结构，此处不做具体限定。Specifically, as shown in FIG. 8, during the rotation of the storage mechanism 202 relative to the transport mechanism 40, the width L1 of the connection position of the storage mechanism 202 and the transport mechanism 40 is always greater than the width L2 of the transport mechanism 40, thereby preventing The goods conveyed on the conveying mechanism 40 are dropped when they are conveyed to the storage mechanism 202. Wherein, the storage mechanism 202 and the transport mechanism 40 are relatively fixedly connected by a connecting member 50, which may be a hinge or a buckle, etc.; when the storage mechanism 202 needs to be rotated, the connecting member 50 may be from the storage mechanism 202 or the transport mechanism 40 is unlocked, and after the storage mechanism 202 is rotated by a predetermined angle with respect to the transport mechanism 40, the storage mechanism 202 or the transport mechanism 40 is re-locked. In other embodiments, the connector may also be other component structures, which are not specifically limited herein.

结合图2所示，在储货机构202相对传送机构40转动预定角度后，机械臂201根据运动轨迹执行，即机械臂201各关节以规划的速度转动规划的角度，将待放置货物放置B到第二位置302。As shown in FIG. 2, after the storage mechanism 202 is rotated by a predetermined angle with respect to the transport mechanism 40, the robot arm 201 is executed according to the motion trajectory, that is, the joints of the robot arm 201 are rotated at a planned speed by a planned angle, and the goods to be placed are placed B. Second location 302.

本实施例中，机器人首先控制储货机构转动预定角度，以替代机械臂的机械运动，从而使得机械臂不需要过多运动角度，可以减少机器人的计算量和机械臂的运动量，提高运动效率。In this embodiment, the robot first controls the storage mechanism to rotate a predetermined angle to replace the mechanical movement of the mechanical arm, so that the mechanical arm does not need excessive movement angle, and the calculation amount of the robot and the movement amount of the mechanical arm can be reduced, and the movement efficiency is improved.

如图9所示，本发明自动装卸货的方法第六实施例是在本发明自动装卸货的方法第四实施例的基础上，步骤S131进一步包括：As shown in FIG. 9, the sixth embodiment of the method for automatic loading and unloading of the present invention is based on the fourth embodiment of the method for automatic loading and unloading of the present invention. Step S131 further includes:

S1311：利用货舱中的传感器，获得目标区域中未放置货物的空间信息；S1311: Using the sensors in the cargo hold to obtain spatial information of unplaced goods in the target area;

其中，货舱中的传感器可以是视觉传感器，也可以是超声传感器等测距传感器，此处不做具体限定。该空间信息可以采用包括体素（Voxel）、三维图像、网格（Mesh）曲面和坐标信息中至少一个进行描述。The sensor in the cargo compartment may be a visual sensor or a distance measuring sensor such as an ultrasonic sensor, which is not specifically limited herein. The spatial information may be described by at least one of a voxel, a three-dimensional image, a mesh surface, and coordinate information.

具体地，结合图2所示，在一个应用例中，货舱中的视觉传感器304获取目标区域301的图像数据，从该图像数据解析出目标区域301中未放置货物的空间信息，例如坐标信息，然后将该坐标信息转化为世界坐标系下的坐标，其中，该世界坐标系可以是储货机构202采用的坐标，也可以是控制***（图未示）采用的坐标，或者货舱30等其他装置采用的坐标，此处不做具体限定。该世界坐标系可以使得各装置、各子***等，例如机器人移动底盘采用的坐标系，末端执行器采用的坐标系，均可以映射到同一坐标系，从而避免由于坐标系不同导致机器人运动出错。Specifically, in combination with FIG. 2, in one application example, the visual sensor 304 in the cargo bay acquires image data of the target area 301, and parses out spatial information, such as coordinate information, of the unplaced goods in the target area 301 from the image data. The coordinate information is then converted into coordinates in the world coordinate system, wherein the world coordinate system may be the coordinates adopted by the storage mechanism 202, or may be the coordinates adopted by the control system (not shown), or other devices such as the cargo bay 30. The coordinates used are not specifically limited here. The world coordinate system can make each device, each subsystem, etc., for example, the coordinate system adopted by the robot moving chassis and the coordinate system adopted by the end effector can be mapped to the same coordinate system, thereby avoiding robot movement errors due to different coordinate systems.

当然，在其他应用例中，也可以采用三维图像或者网格曲面等方式获取未放置货物的空间信息，或者机器人也可以获取已放置货物的空间信息，结合目标区域的空间信息，得到未放置货物的空间信息。Of course, in other applications, the spatial information of the unplaced goods may be acquired by using a three-dimensional image or a mesh surface, or the robot may also acquire the spatial information of the placed goods, and combine the spatial information of the target area to obtain the unplaced goods. Spatial information.

S1312：在目标区域未放置货物的空间中，选择与待放置货物相匹配的空间作为第二位置。S1312: In the space where the goods are not placed in the target area, the space matching the goods to be placed is selected as the second position.

上述应用例中，机器人20通过视觉传感器203获取待放置货物B的空间数据和/或货物信息，空间数据包括通过体素、网格等描述方式的数据以及位姿信息，货物信息包括尺寸、形态、货物类型中至少一个，从而根据该空间数据和/或货物信息，选择与待放置货物B相匹配的空间，例如与该待放置货物B尺寸最接近的空间，作为第二位置302。其中，可以通过空间数据得到货物信息，但也可以通过具有计算能力的视觉传感器或控制***通过视觉传感器采集的数据进行计算，直接通过视觉传感器或控制***获取空间数据和货物信息。当然，在其他实施例中，机器人也可以根据货物信息，例如可形变货物，选择未放置货物空间中边缘、顶部或货物之间的空隙等可以放置压缩货物的空间，作为第二位置，此处不做具体限定。In the above application example, the robot 20 acquires spatial data and/or cargo information of the goods B to be placed through the visual sensor 203. The spatial data includes data describing the form by means of voxels, grids, and posture information, and the cargo information includes size and shape. At least one of the types of goods, so that a space matching the item B to be placed, such as a space closest to the size of the item B to be placed, is selected as the second position 302 based on the spatial data and/or the cargo information. Among them, the cargo information can be obtained through the spatial data, but the data collected by the visual sensor can also be calculated by the visual sensor or the control system with the computing capability, and the spatial data and the cargo information can be directly obtained through the visual sensor or the control system. Of course, in other embodiments, the robot can also select a space in which the compressed cargo can be placed according to the cargo information, such as the deformable cargo, and the space between the edge, the top, or the cargo in the unplaced cargo space, as the second location, where No specific restrictions.

如图10所示，本发明自动装卸货的方法第七实施例是在本发明自动装卸货的方法第一实施例的基础上，机器人在货舱中装货时，步骤S11进一步包括：As shown in FIG. 10, the seventh embodiment of the method for automatic loading and unloading of the present invention is based on the first embodiment of the method for automatic loading and unloading of the present invention. When the robot is loaded in the cargo compartment, step S11 further includes:

S111：机器人利用感知装置获取储货机构/传送机构中待放置货物的空间数据和/或货物信息；S111: the robot acquires spatial data and/or cargo information of the goods to be placed in the storage mechanism/transport mechanism by using the sensing device;

其中，感知装置包括视觉传感器，射频识别装置，和文字识别装置中至少一种。该感知装置可以设置于机器人的机械臂，或者设置于货舱中，又或者设置于传送机构和/或储货机构；货物的空间数据包括货物的描述信息，位姿信息，还可以包括周围障碍物的信息，货物信息包括尺寸、形状、重量、类型和目的地址、发货地址中至少一个，此处不做具体限定。Wherein, the sensing device comprises at least one of a visual sensor, a radio frequency identification device, and a character recognition device. The sensing device may be disposed on the robot arm of the robot, or disposed in the cargo compartment, or disposed in the transport mechanism and/or the storage mechanism; the spatial data of the cargo includes description information of the cargo, posture information, and may also include surrounding obstacles. The information, the cargo information includes at least one of a size, a shape, a weight, a type and a destination address, and a shipping address, which are not specifically limited herein.

S112：根据空间数据和/或货物信息确定待放置货物的获持位姿；S112: Determine a posture of the goods to be placed according to the spatial data and/or the cargo information;

其中，获持位姿包括机械臂获取该待放置货物的位置和姿态数据。The obtained posture includes the position and posture data of the mechanical arm acquiring the goods to be placed.

S113：机械臂以该获持位姿取得待放置货物。S113: The robot arm obtains the goods to be placed in the held position.

具体地，在一个应用例中，结合图2所示，机器人20利用设置于机械臂201末端执行器上的视觉传感器203，获取储货机构202上的待放置货物B的空间数据和/或货物信息，例如B的空间描述信息、周围障碍物的信息、位姿信息等空间数据，尺寸、形状等货物信息。该视觉传感器203根据该空间数据和/或货物信息，计算得到适合机械臂201的末端执行器获持的区域，再根据该区域计算得到末端执行器的获持位姿，则机械臂201的末端执行器以该获持位姿取得该待放置货物B。例如，视觉传感器203得到储货机构203中的货物空间数据（包括获取区域），然后计算出获持该待放置货物B的位姿，该位姿是依据视觉传感器203的坐标系，则机器人20将该位姿转换为世界坐标系下的位姿后，机械臂201的末端执行器根据该世界坐标系下的位姿，得到自身末端执行器的坐标系下的获持位姿后，机械臂201的末端执行器以该获持位姿取得该待放置货物B。Specifically, in one application, as shown in FIG. 2, the robot 20 acquires spatial data and/or cargo of the goods B to be placed on the storage mechanism 202 by using the visual sensor 203 disposed on the end effector of the robot arm 201. Information such as spatial description information of B, information of surrounding obstacles, spatial information such as pose information, cargo information such as size and shape. The vision sensor 203 calculates an area suitable for the end effector of the robot arm 201 based on the spatial data and/or the cargo information, and calculates the position of the end effector based on the area, and the end of the robot arm 201 The actuator takes the goods B to be placed in the held position. For example, the visual sensor 203 obtains the cargo space data (including the acquisition area) in the storage mechanism 203, and then calculates the posture of the goods B to be placed, which is based on the coordinate system of the visual sensor 203, and the robot 20 After the pose is converted into a pose in the world coordinate system, the end effector of the robot arm 201 obtains the grip posture in the coordinate system of the end effector according to the pose in the world coordinate system, and the arm The end effector of 201 takes the goods B to be placed in the held position.

在其他实施例中，机器人还可以考虑货舱中已放置货物的空间数据，确定待放置货物以及获持位姿，例如当前排仅剩一个小空间可以放置货物，则机器人会选取符合小空间的小尺寸货物，或可形变物体可适应小空间的货物，或者尺寸特性可以符合小空间特性的货物，如货物横着、竖着、斜着时就可以放进去，此时机器人的末端执行器会选择对应货物可放入的获持位姿。In other embodiments, the robot can also consider the spatial data of the goods placed in the cargo compartment, determine the goods to be placed and the posture to be held. For example, if only one small space is left in the current row, the robot can select a small space. Dimensional goods, or deformable objects can be adapted to small space goods, or goods whose dimensional characteristics can conform to small space characteristics. If the goods are placed horizontally, vertically, or diagonally, they can be placed. At this time, the end effector of the robot will select the corresponding The position in which the goods can be placed.

本实施例还可以与本发明自动装卸货的方法第二至第六实施例中任一个实施例或者其不冲突的组合相结合。This embodiment can also be combined with any one of the second to sixth embodiments of the method of automatic loading and unloading of the present invention or a combination thereof.

如图11所示，本发明自动装卸货的方法第八实施例是在本发明自动装卸货的方法第七实施例的基础上，该感知装置包括视觉传感器，步骤S111进一步包括：As shown in FIG. 11, the eighth embodiment of the method for automatic loading and unloading of the present invention is based on the seventh embodiment of the method for automatic loading and unloading of the present invention. The sensing device includes a visual sensor, and step S111 further includes:

S1111：机器人利用视觉传感器获取储货机构/传送机构中堆放的待放置货物的空间数据；S1111: The robot uses the visual sensor to obtain spatial data of the goods to be placed stacked in the storage mechanism/transport mechanism;

其中，视觉传感器是RGBD传感器、三维相机和双目摄像头中的一种，该视觉传感器可以设置于机器人的机械臂，或者设置于货舱中，又或者设置于传送机构/储货机构，此处不做具体限定。The visual sensor is one of an RGBD sensor, a three-dimensional camera, and a binocular camera. The visual sensor can be disposed on the robot arm of the robot, or disposed in the cargo compartment, or disposed in the transport mechanism/storage mechanism. Make specific limits.

S1112：利用分割处理，获取堆放的待放置货物中可以分割出的每个待放置货物的子空间数据；S1112: Using the segmentation process, obtaining subspace data of each item to be placed that can be divided among the stacked goods to be placed;

其中，分割处理（Segmentation）可以分割出货物堆表面可识别货物的子空间数据，而被表面货物遮挡在货堆里的货物，可以在表面货物被拿走以后，重新感测到的空间数据后进行分割。The segmentation process can segment the subspace data of the goods on the surface of the pile of goods, and the goods covered by the surface goods in the pile can be re-sensed after the surface goods are taken away. Split.

S1113：利用子空间数据，获取每个待放置货物的空间数据和/或货物信息；S1113: Using subspace data, obtaining spatial data and/or cargo information of each goods to be placed;

具体地，在一个应用例中，机器人利用设置于货舱中的视觉传感器获取储货机构中堆放的待放置货物的空间数据，包括三维图像，利用图像分割技术，可以从堆放的待放置货物中分割出表面可识别的每个货物的子空间数据，即三维子图像，然后利用该三维子图像的深度信息，可以获取可识别的每个待放置货物的空间数据，还可以获取货物信息，包括尺寸、形状、位置等，以便于后续选择和获持待放置货物。Specifically, in one application example, the robot acquires spatial data of the goods to be placed stacked in the storage mechanism by using a visual sensor disposed in the cargo compartment, including a three-dimensional image, and can be segmented from the stacked goods to be placed by using image segmentation technology. Subspace data of each cargo identifiable by the surface, that is, a three-dimensional sub-image, and then using the depth information of the three-dimensional sub-image, the spatial data of each identifiable goods to be identifiable can be obtained, and the cargo information, including the size, can also be obtained. , shape, location, etc., in order to facilitate subsequent selection and acquisition of the goods to be placed.

当然，在其他实施例中，机器人也可以通过视觉传感器获取传送机构上放置的货物的空间数据，该空间数据也可以包括位姿信息，即位置和姿态，体素或网格曲面等方式构建的货物描述信息，此处不做具体限定。Of course, in other embodiments, the robot may also acquire spatial data of the goods placed on the transport mechanism through the visual sensor, and the spatial data may also include pose information, that is, position and posture, voxels or mesh surfaces. The description of the goods is not specifically limited here.

如图12所示，本发明自动装卸货的方法第九实施例是在本发明自动装卸货的方法第七实施例的基础上，步骤S111进一步包括：As shown in FIG. 12, the ninth embodiment of the method for automatic loading and unloading of the present invention is based on the seventh embodiment of the method for automatic loading and unloading of the present invention. Step S111 further includes:

S1114：利用感知装置识别储货机构/传送机构中待放置货物的标签；S1114: using a sensing device to identify a label of the goods to be placed in the storage mechanism/transport mechanism;

其中，该标签可以是条形码、二维码或者文字信息中至少一种，该感知装置可以是射频识别装置、二维码识别装置或文字识别装置中至少一种。The tag may be at least one of a barcode, a two-dimensional code, or a text message, and the sensing device may be at least one of a radio frequency identification device, a two-dimensional code recognition device, or a character recognition device.

S1115：获取标签对应的待放置货物的空间数据和/或货物信息；S1115: Obtain spatial data and/or cargo information of the goods to be placed corresponding to the label;

其中，空间数据可以包括位姿信息，即位置和姿态，还可以包括周围障碍物信息。所述货物信息包括待放置货物的尺寸、重量、体积、形态和货物类别中至少一种。The spatial data may include pose information, that is, position and posture, and may also include surrounding obstacle information. The cargo information includes at least one of a size, a weight, a volume, a form, and a cargo category of the goods to be placed.

具体地，在一个应用例中，传送机构上设置有感知装置，每个待放置货物经过该传送机构，传送到储货机构过程中，该感知装置识别待放置货物的标签，通过该标签获取对应的空间数据和/或货物信息，或者将该标签信息上传控制***，由控制***获取对应的空间数据和/或货物信息，将该空间数据和/或货物信息发送给机器人，以便机器人后续选择和获持待放置货物。Specifically, in an application example, the transport mechanism is provided with a sensing device, and each of the goods to be placed passes through the transport mechanism and is transferred to the storage mechanism, and the sensing device identifies the label of the goods to be placed, and obtains a corresponding label through the label. Spatial data and/or cargo information, or uploading the label information to the control system, the corresponding spatial data and/or cargo information is obtained by the control system, and the spatial data and/or the cargo information is sent to the robot so that the robot can subsequently select and Get the goods to be placed.

其他实施例中，感知装置可设置于机器人的机械臂或末端执行器，用于识别待放置货物的标签，通过该标签获取对应的空间数据和/或货物信息，或者将该标签信息上传控制***，由控制***获取对应的空间数据和/或货物信息，将该空间数据和/或货物信息发送给机器人，以便机器人后续选择和获持待放置货物。在其他实施例中，控制***可以直接根据空间数据和/或货物信息，结合机器人当前的位姿，选择机器人获持的待放置货物及机器人的获持位姿，发送给机器人。如图13所示，本发明自动装卸货的方法第十实施例是在本发明自动装卸货的方法第一实施例的基础上，机器人在货舱中卸货时，步骤S11进一步包括：In other embodiments, the sensing device may be disposed on a robot arm or an end effector of the robot for identifying a tag of the item to be placed, obtaining corresponding spatial data and/or cargo information through the tag, or uploading the tag information to the control system. The corresponding spatial data and/or cargo information is obtained by the control system, and the spatial data and/or the cargo information is sent to the robot, so that the robot subsequently selects and holds the goods to be placed. In other embodiments, the control system may directly select the position to be placed and the held posture of the robot according to the spatial data and/or the cargo information, in combination with the current posture of the robot, and send the gesture to the robot. As shown in FIG. 13, the tenth embodiment of the method for automatic loading and unloading of the present invention is based on the first embodiment of the method for automatic loading and unloading of the present invention. When the robot unloads the cargo in the cargo compartment, step S11 further includes:

S114：机器人从与货舱顶部距离最近的一排货物中，选择至少一个待放置货物；S114: The robot selects at least one item to be placed from a row of goods closest to the top of the cargo hold;

S115：确定取得至少一个待放置货物的获持位姿；S115: Determine obtaining a held posture of at least one item to be placed;

S116：机械臂以该获持位姿取得至少一个待放置货物。S116: The robot arm obtains at least one item to be placed in the held position.

具体地，结合图3所示，在一个应用例中，机器人20利用设置于机械臂201的感知装置203，获取货舱30中距离顶部最近的一排货物的空间数据，从一排货物中随机选择至少一个待放置货物B，则可以获得该待放置货物B的空间数据，然后机器人20可以根据该待放置货物B的空间数据，转化为世界坐标系下的空间数据，并利用该世界坐标系下的空间数据，计算出机械臂201的末端执行器（图未示）取得该待放置货物B的获持位姿。也可以结合货物信息，获得同时符合待放置货物B货物信息对应特性的获持位姿。Specifically, in conjunction with FIG. 3, in one application example, the robot 20 uses the sensing device 203 disposed on the robot arm 201 to acquire spatial data of a row of cargo in the cargo compartment 30 that is closest to the top, and randomly selects from a row of cargo. At least one cargo B to be placed, the spatial data of the cargo B to be placed can be obtained, and then the robot 20 can convert the spatial data of the cargo B to be converted into spatial data under the world coordinate system, and use the world coordinate system. The spatial data is calculated to calculate the holding posture of the cargo B to be placed by the end effector (not shown) of the robot arm 201. It is also possible to combine the cargo information to obtain a holding posture that simultaneously meets the corresponding characteristics of the cargo information of the goods B to be placed.

其他实施例中，待放置货物B上包括关联自身空间数据和/或货物信息的可识别信息，例如标签、纹理、图案、颜色等特性。则可依据感知装置203获取的待放置货物的空间数据，如图像信息，识别出上述可识别信息，从而获得该可识别信息对应的空间数据和/或货物信息。In other embodiments, the item B to be placed includes identifiable information associated with its own spatial data and/or cargo information, such as labels, textures, patterns, colors, and the like. Then, according to the spatial data of the goods to be placed acquired by the sensing device 203, such as image information, the identifiable information is identified, thereby obtaining spatial data and/or cargo information corresponding to the identifiable information.

当然，在其他实施例中，机器人也可以利用设置于货舱中的感知装置获取货物空间数据，或者感知装置将空间数据上传控制***后，由控制***计算取得该待放置货物的获持位姿，此处不做具体限定。Of course, in other embodiments, the robot can also obtain the cargo space data by using the sensing device disposed in the cargo compartment, or the sensing device calculates the obtained posture of the cargo to be placed after the spatial data is uploaded to the control system. This is not specifically limited.

如图14所示，本发明自动装卸货的方法第十一实施例是在本发明自动装卸货的方法第一实施例的基础上，机器人在货舱中卸货时，步骤S13进一步包括：As shown in FIG. 14, the eleventh embodiment of the method for automatic loading and unloading of the present invention is based on the first embodiment of the method for automatic loading and unloading of the present invention. When the robot unloads in the cargo compartment, step S13 further includes:

S134：获取储货机构/传送机构中与待放置货物相匹配的第二位置；S134: Obtain a second position in the storage mechanism/transport mechanism that matches the goods to be placed;

具体地，结合图3所示，在一个应用例中，机器人20选择待放置货物B后，可以根据待放置货物B的空间数据，以及储货机构/传送机构中未放置货物的空间数据，选择与该待放置货物B尺寸和/或形状最接近的空间，作为该第二位置205（或401）。可以理解的是，该第二位置可以包括位置和/或姿态。其中，机器人20采用感知装置203获取该第二位置的空间数据，或者也可以通过控制***（图未示）获取，此处不做具体限定。当然，在其他应用例中，机器人也可以直接选择传送机构末端未放置货物，且空间不小于待放置货物尺寸的空间，作为该第二位置。Specifically, in combination with FIG. 3, in an application example, after selecting the item B to be placed, the robot 20 can select according to the spatial data of the item B to be placed and the spatial data of the unloaded goods in the storage mechanism/transport mechanism. The space closest to the size and/or shape of the goods B to be placed is taken as the second position 205 (or 401). It will be appreciated that the second location may include a position and/or attitude. The robot 20 obtains the spatial data of the second location by using the sensing device 203, or may be acquired by a control system (not shown), which is not specifically limited herein. Of course, in other applications, the robot can also directly select the space where the cargo is not placed at the end of the conveying mechanism, and the space is not less than the size of the cargo to be placed as the second position.

S135：规划从第一位置到第二位置的运动轨迹；S135: planning a motion track from the first position to the second position;

其中，该运动轨迹包括机械臂的运动路径（即该机械臂各关节的转动角度）和运动时间（即转动速度）。第一位置、第二位置包括位置（position）和/或姿态（orientation）。The motion trajectory includes a motion path of the robot arm (ie, a rotation angle of each joint of the robot arm) and a motion time (ie, a rotation speed). The first position, the second position includes a position and/or an orientation.

S136：机械臂根据该运动轨迹运动，将待放置货物放置到第二位置。S136: The robot arm moves according to the movement track to place the goods to be placed to the second position.

具体地，继续结合图3，在上述应用例中，机器人20根据获持该待放置货物B的第一位置303和放置该待放置货物B的目标位置205，即第二位置，规划从第一位置303到第二位置205的运动轨迹，即规划机械臂各关节的转动角度和转动速度，然后控制机械臂201根据该运动轨迹运动，即机械臂201各关节根据规划的转动速度转动规划的转动角度，从而将待放置货物B放置到第二位置205。Specifically, with reference to FIG. 3, in the above application example, the robot 20 is planned from the first position according to the first position 303 of the goods B to be placed and the target position 205 where the goods B to be placed are placed, that is, the second position. The trajectory of the position 303 to the second position 205, that is, the rotation angle and the rotation speed of each joint of the robot arm are planned, and then the control robot 201 moves according to the movement trajectory, that is, the rotation of each joint of the robot arm 201 according to the planned rotation speed is planned. Angle, thereby placing the item B to be placed to the second position 205.

其中，该储货机构202与传送机构40对接位置的高度H2低于储货机构202中第二位置205的高度H1，以使得待放置货物B从储货机构202滑入传送机构40，从而利用传送机构40可以将待放置货物B传送到仓库中。该示例中，第二位置为与对接位置相对的一端。在其他实施例中，结合图2所示，传送机构40与储货机构202对接位置采用子传送机构403连接，从而使得卸货时，储货机构202上的货物可以通过子传送机构403移动到传送机构40上，传送入仓库中。The height H2 of the docking position of the storage mechanism 202 and the conveying mechanism 40 is lower than the height H1 of the second position 205 of the storage mechanism 202, so that the goods B to be placed are slid from the storage mechanism 202 into the conveying mechanism 40, thereby utilizing The transport mechanism 40 can transport the goods B to be placed into the warehouse. In this example, the second position is the end opposite the docking position. In other embodiments, in conjunction with FIG. 2, the transport mechanism 40 is coupled to the docking station 202 by a sub-transport mechanism 403 such that when unloading, the cargo on the stock mechanism 202 can be moved to the transport by the sub-delivery mechanism 403. At the institution 40, it is transferred into the warehouse.

在另一个应用例中，如图15所示，传送机构40在对接位置设置有约束件60，该约束件60包括第一挡板601和第二挡板602，该第一挡板601一端连接于传送机构40，另一端朝向储货机构202，第二挡板602一端连接于传送机构40，另一端朝向储货机构202，第一挡板601和第二挡板602连接传送机构40时呈漏斗状，漏斗开口朝向储货机构202，以使得储货机构202中的待放置货物沿约束件60滑入传送机构40，从而避免货物滑动时掉出储货机构。In another application, as shown in FIG. 15, the transport mechanism 40 is provided with a restraining member 60 at the docking position, and the restraining member 60 includes a first baffle 601 and a second baffle 602, and the first baffle 601 is connected at one end. The conveying mechanism 40 has the other end facing the storage mechanism 202. The second baffle 602 has one end connected to the conveying mechanism 40 and the other end facing the storage mechanism 202. When the first baffle 601 and the second baffle 602 are connected to the conveying mechanism 40, In the shape of a funnel, the funnel opening faces the storage mechanism 202 such that the cargo to be placed in the storage mechanism 202 slides along the restraining member 60 into the transport mechanism 40, thereby preventing the cargo storage mechanism from falling out when the cargo slides.

在其他实施例中，由于机械臂关节的运动范围有限，机器人还可以首先控制储货机构转动，以替代机械臂的运动，同时该约束件在储货机构转动时，可以跟随储货机构转动，以防止储货机构转动时货物掉落。In other embodiments, due to the limited range of motion of the mechanical arm joint, the robot may first control the rotation of the storage mechanism to replace the movement of the mechanical arm, and the restraining member may follow the storage mechanism when the storage mechanism rotates. To prevent the cargo from falling when the storage mechanism is turned.

如图16所示，本发明自动装卸货的方法第十二实施例是在本发明自动装卸货的方法第十实施例的基础上，步骤S116进一步包括：As shown in FIG. 16, the twelfth embodiment of the method for automatic loading and unloading of the present invention is based on the tenth embodiment of the method for automatic loading and unloading of the present invention. Step S116 further includes:

S1161：利用储货机构转动预定角度，以使得第一位置在机械臂的运动范围内；S1161: rotating a predetermined angle by using a storage mechanism such that the first position is within a range of motion of the robot arm;

其中，该预定角度是根据该第一位置获取的转动角度，具体取值根据实际需求而定，此处不做具体限定。The predetermined angle is a rotation angle obtained according to the first position, and the specific value is determined according to actual needs, and is not specifically limited herein.

S1162：机械臂以该获持位姿取得至少一个待放置货物；S1162: The robot arm obtains at least one item to be placed in the held posture;

本实施例中步骤的执行具体可以参考本发明自动装卸货的方法第五实施例中的步骤，此处不再重复。For the specific implementation of the steps in this embodiment, reference may be made to the steps in the fifth embodiment of the method for automatically loading and unloading the present invention, which is not repeated here.

本实施例中，机器人首先控制储货机构转动预定角度，以替代机械臂的运动，从而使得机械臂各关节不需要过多运动范围，可以减少机器人的计算量和机械臂的运动量，提高运动效率。In this embodiment, the robot first controls the storage mechanism to rotate a predetermined angle to replace the movement of the mechanical arm, so that the joints of the mechanical arm do not need excessive movement range, and the calculation amount of the robot and the movement amount of the mechanical arm can be reduced, and the movement efficiency is improved. .

如图17所示，本发明自动装卸货的方法第十三实施例是在本发明自动装卸货的方法第二/第三实施例的基础上，步骤S101或S102之前，进一步包括：As shown in FIG. 17, the thirteenth embodiment of the method for automatic loading and unloading of the present invention is based on the second/third embodiment of the method for automatic loading and unloading of the present invention. Before step S101 or S102, the method further includes:

S100：机器人利用升降台抬升到目标高度；S100: The robot is lifted to the target height by using the lifting platform;

其中，该目标高度是货舱口与地面的高度差。Among them, the target height is the height difference between the cargo hatch and the ground.

具体地，结合图2或图3所示，货车停靠在仓库门前时，货舱30相对于地面存在高度差，机器人20无法直接从地面移动入货舱30中，此时，机器人20移动到货舱30门前的地面时，控制***（图未示）控制升降台60上升目标高度，从而将机器人20抬升至货舱30门前，以便于机器人20移入货舱30中进行装卸货。Specifically, as shown in FIG. 2 or FIG. 3, when the truck is parked in front of the warehouse door, the cargo compartment 30 has a height difference with respect to the ground, and the robot 20 cannot move directly into the cargo compartment 30 from the ground. At this time, the robot 20 moves to the cargo compartment 30. In the case of the ground in front of the door, a control system (not shown) controls the lifting platform 60 to raise the target height, thereby lifting the robot 20 up to the front of the cargo bay 30, so that the robot 20 moves into the cargo bay 30 for loading and unloading.

在其他实施例中，可以只将升降台靠近货舱门一端抬升至目标高度，另一端接触地面，机器人则沿该升降台形成的斜坡移动，进入货舱内。In other embodiments, only the lift platform can be raised to the target height near the cargo door door, the other end is in contact with the ground, and the robot moves along the slope formed by the lift platform into the cargo hold.

如图18所示，本发明自动装卸货设备第一实施例包括：As shown in FIG. 18, the first embodiment of the automatic loading and unloading device of the present invention comprises:

机器人20和传送机构40，机器人20包括机械臂201和储货机构202，储货机构202相对固定于机器臂201；The robot 20 and the transport mechanism 40, the robot 20 includes a robot arm 201 and a storage mechanism 202, the storage mechanism 202 is relatively fixed to the robot arm 201;

机器臂201用于从第一位置取得至少一个待放置货物，并将待放置货物放置到第二位置；The robot arm 201 is configured to obtain at least one item to be placed from the first position, and place the item to be placed into the second position;

储货机构202用于放置待放置货物，并带动机械臂201在货舱内运动；The storage mechanism 202 is configured to place the goods to be placed and drive the robot arm 201 to move in the cargo hold;

传送机构40用于传送待放置货物，传送机构40根据机器人20的位置延伸到货舱内。The transport mechanism 40 is used to transport the cargo to be placed, and the transport mechanism 40 extends into the cargo bay in accordance with the position of the robot 20.

其中，结合图2所示，当机器人20在货舱中装货时，第一位置204是在机器人20的储货机构202中，或者在与储货机构202对接的传送机构40中，放置待放置货物B的初始位置，第二位置302是货舱30中放置待放置货物B的目标位置。Wherein, in conjunction with FIG. 2, when the robot 20 is loaded in the cargo hold, the first position 204 is in the storage mechanism 202 of the robot 20, or in the transport mechanism 40 docked with the storage mechanism 202, placed to be placed The initial position of the cargo B, the second position 302 is the target position in the cargo bay 30 where the cargo B to be placed is placed.

结合图3所示，当机器人20在货舱30中卸货时，第一位置303是货舱30中放置待放置货物B的初始位置，第二位置205是在机器人20的储货机构202中，或者，第二位置401是在与储货机构202对接的传送机构40中，放置待放置货物B的目标位置。As shown in FIG. 3, when the robot 20 unloads in the cargo bay 30, the first position 303 is the initial position in which the cargo B to be placed is placed in the cargo compartment 30, and the second position 205 is in the storage mechanism 202 of the robot 20, or The second position 401 is a target position at which the goods B to be placed are placed in the transport mechanism 40 that interfaces with the storage mechanism 202.

本实施例中，机器人装卸货的流程具体可以参考本发明自动装卸货的方法第一至第十三任一实施例或者其不冲突的组合所提供的方法，此处不再重复。In this embodiment, the flow of loading and unloading the robot can be specifically referred to the method provided by any one of the first to thirteenth embodiments of the automatic loading and unloading method of the present invention or a non-conflicting combination thereof, and is not repeated here.

本实施例中，机器人从第一位置取得至少一个待放置货物，并将待放置货物放置到第二位置。其中，当机器人在货舱中装货时，第一位置是在机器人的储货机构中，或者在与储货机构对接的传送机构中，用于放置待放置货物的初始位置。第二位置是货舱中放置待放置货物的目标位置。当机器人在货舱中卸货时，第一位置是货舱中放置待放置货物的初始位置，第二位置是在机器人的储货机构中，或者在与储货机构对接的传送机构中，用于放置待放置货物的目标位置。储货机构相对固定于机器人的机械臂，带动机械臂在货舱中运动。传送机构根据机器人的位置延伸到货舱内，从而采用机器人替代人工自动装卸货，并利用延伸的传送机构输送货物，降低装卸货过程中的人工参与成份，进而降低装卸货的人工成本，而且机器人不存在体力消耗的问题，可以长时间工作，进而可以提高装卸货的效率。In this embodiment, the robot takes at least one item to be placed from the first position and places the item to be placed into the second position. Wherein, when the robot is loading in the cargo hold, the first position is in the robot's storage mechanism, or in the transport mechanism docked with the storage mechanism, for placing the initial position of the goods to be placed. The second position is the target position in the cargo hold where the goods to be placed are placed. When the robot unloads in the cargo hold, the first position is the initial position in which the goods to be placed are placed in the cargo hold, and the second position is in the storage mechanism of the robot or in the transfer mechanism docked with the storage mechanism for placing The target location where the goods are placed. The storage mechanism is relatively fixed to the robot arm of the robot, and drives the robot arm to move in the cargo compartment. The conveying mechanism extends into the cargo compartment according to the position of the robot, thereby replacing the manual automatic loading and unloading with the robot, and using the extended conveying mechanism to transport the goods, thereby reducing the labor-involved components in the loading and unloading process, thereby reducing the labor cost of loading and unloading, and the robot does not There is a problem of physical exertion, which can work for a long time, thereby improving the efficiency of loading and unloading.

结合图2或图3和图19所示，本发明自动装卸货设备第二实施例是在本发明自动装卸货设备第一实施例的基础上，储货机构202包括可移动底座2021，用于在机器人20从第一位置204/303取得至少一个待放置货物B之前，将机器人20沿垂直货舱门的方向移动到货舱30的目标区域301，以使得传送机构40跟随机器人20移入货舱30。2 or 3 and FIG. 19, the second embodiment of the automatic loading and unloading apparatus of the present invention is based on the first embodiment of the automatic loading and unloading apparatus of the present invention, and the storage mechanism 202 includes a movable base 2021 for Before the robot 20 takes at least one cargo B to be placed from the first position 204/303, the robot 20 is moved in the direction of the vertical cargo door to the target area 301 of the cargo hold 30 such that the transfer mechanism 40 follows the robot 20 into the cargo hold 30.

其中，在机器人20移动到目标区域301前，传送机构40相对固定于储货机构202，跟随机器人20被动延伸到货舱30内。该可移动底座2021可以是具有万向轮的底盘，该底盘可以是方形或圆形等形状，此处不做具体限定。Wherein, before the robot 20 moves to the target area 301, the transport mechanism 40 is relatively fixed to the storage mechanism 202, and the following robot 20 passively extends into the cargo bay 30. The movable base 2021 may be a chassis having a universal wheel, and the chassis may be in the shape of a square or a circle, and is not specifically limited herein.

本实施例中，储货机构带动机器人移入货舱，以及传送机构跟随储货机构移入货舱的流程具体可以参考本发明自动装卸货的方法第二实施例，此处不再重复。In this embodiment, the storage mechanism drives the robot to move into the cargo compartment, and the process of the transport mechanism following the loading mechanism to move into the cargo compartment can refer to the second embodiment of the automatic loading and unloading method of the present invention, which is not repeated here.

结合图2或图3和图20所示，本发明自动装卸货设备第三实施例是在本发明自动装卸货设备第一实施例的基础上，储货机构202包括可移动底座2021，用于在机器人20从第一位置204/303取得至少一个待放置货物B之前，将机器人20沿垂直货舱门的方向移动到货舱30的目标区域301。其中，机器人的目标区域301包括装货时，位于机器人后方的区域，以及卸货时，位于机器人前方的区域。2 or 3 and 20, the third embodiment of the automatic loading and unloading apparatus of the present invention is based on the first embodiment of the automatic loading and unloading apparatus of the present invention, and the storage mechanism 202 includes a movable base 2021 for Before the robot 20 takes at least one cargo B to be placed from the first position 204/303, the robot 20 is moved in the direction of the vertical cargo door to the target area 301 of the cargo hold 30. Among them, the target area 301 of the robot includes an area located behind the robot when loading, and an area located in front of the robot when unloading.

机器人20进一步包括第一通信电路206，用于向传送机构40发送机器人20的位置信息和/或目标区域，以使得传送机构40确定与储货机构202的对接位置。The robot 20 further includes a first communication circuit 206 for transmitting the position information and/or the target area of the robot 20 to the transport mechanism 40 such that the transport mechanism 40 determines the docking position with the stock mechanism 202.

传送机构40进一步包括第二通信电路402，用于接收机器人20的位置信息和/或目标区域，以使得传送机构40在计算对接位置后，主动延伸到对接位置，与储货机构202对接。The transport mechanism 40 further includes a second communication circuit 402 for receiving position information and/or a target area of the robot 20 such that the transfer mechanism 40 actively extends to the docking position after docking the docking position to interface with the stocking mechanism 202.

本实施例中，储货机构带动机器人移入货舱，机器人发送信息以及传送机构与储货机构对接的流程具体可以参考本发明自动装卸货的方法第三实施例，此处不再重复。In this embodiment, the third embodiment of the method for automatically loading and unloading the present invention can be referred to in the third embodiment of the method for automatically loading and unloading the present invention.

结合图2或图3和图21所示，本发明自动装卸货设备第四实施例是在本发明自动装卸货设备第一实施例的基础上，进一步包括：控制***80。Referring to FIG. 2 or FIG. 3 and FIG. 21, the fourth embodiment of the automatic loading and unloading apparatus of the present invention is based on the first embodiment of the automatic loading and unloading apparatus of the present invention, and further includes: a control system 80.

储货机构202包括可移动底座2021，用于在机器人20从第一位置204/303取得至少一个待放置货物B之前，将机器人20沿垂直货舱门的方向移动到货舱30的目标区域301。The storage mechanism 202 includes a movable base 2021 for moving the robot 20 to the target area 301 of the cargo hold 30 in the direction of the vertical cargo hold door before the robot 20 takes at least one item B to be placed from the first position 204/303.

机器人20进一步包括第一通信电路206，用于向控制***80发送机器人20的位置信息和/或目标区域，以使得传送机构40确定与储货机构202的对接位置。The robot 20 further includes a first communication circuit 206 for transmitting position information and/or a target area of the robot 20 to the control system 80 such that the transfer mechanism 40 determines a docking position with the storage mechanism 202.

控制***80用于利用机器人20的位置信息和/或目标区域计算对接位置，并向传送机构40发送对接位置，以控制传送机构40主动延伸到对接位置，与储货机构202对接。其他实施例中，控制机构40还可以根据对接位置，直接发送控制指令，以控制传送机构40延伸到对接位置。The control system 80 is configured to calculate the docking position using the position information and/or the target area of the robot 20, and transmit the docking position to the transport mechanism 40 to control the transport mechanism 40 to actively extend to the docking position to interface with the stocking mechanism 202. In other embodiments, the control mechanism 40 can also directly transmit control commands based on the docking position to control the transfer mechanism 40 to extend to the docking position.

本实施例中，储货机构带动机器人移入货舱，机器人发送信息以及控制***控制传送机构与储货机构对接的流程具体可以参考本发明自动装卸货的方法第三实施例，此处不再重复。In the embodiment, the third embodiment of the method for automatically loading and unloading the present invention can be referred to in the third embodiment of the method for automatically loading and unloading the present invention. The third embodiment of the method for automatically loading and unloading the present invention is not repeated here.

图22是本发明自动装卸货设备第五实施例，如图21和图22所示，本发明自动装卸货设备第五实施例的结构与本发明自动装卸货设备第四实施例的结构类似，此处不再赘述，不同之处在于，传送机构40进一步包括连接件50，用于在传送机构40延伸到对接位置时，连接储货机构202，以实现与储货机构202的对接。Figure 22 is a fifth embodiment of the automatic loading and unloading apparatus of the present invention. As shown in Figures 21 and 22, the structure of the fifth embodiment of the automatic loading and unloading apparatus of the present invention is similar to the structure of the fourth embodiment of the automatic loading and unloading apparatus of the present invention. No further details are provided here, except that the transport mechanism 40 further includes a connector 50 for connecting the storage mechanism 202 to achieve docking with the storage mechanism 202 when the transport mechanism 40 extends to the docking position.

本实施例中，连接件的作用具体可以参考本发明自动装卸货的方法第五实施例，此处不再重复。In this embodiment, the fifth embodiment of the method for automatically loading and unloading the present invention can be specifically referred to, and is not repeated here.

图23是本发明自动装卸货设备第六实施例，如图21和图23所示，本发明自动装卸货设备第六实施例的结构与本发明自动装卸货设备第四实施例的结构类似，此处不再赘述，不同之处在于，进一步包括：设置于货舱中的传感器90，用于获得目标区域中未放置货物的空间信息，以使得机器人20在目标区域未放置货物的空间中，选择与待放置货物相匹配的空间作为第二位置。Figure 23 is a sixth embodiment of the automatic loading and unloading apparatus of the present invention. As shown in Figures 21 and 23, the structure of the sixth embodiment of the automatic loading and unloading apparatus of the present invention is similar to the structure of the fourth embodiment of the automatic loading and unloading apparatus of the present invention. The details are not further described here, and further include: a sensor 90 disposed in the cargo compartment for obtaining spatial information of the unplaced goods in the target area, so that the robot 20 selects a space in which the cargo is not placed in the target area. The space matching the goods to be placed is taken as the second position.

本实施例中，货舱中传感器的作用具体可以参考本发明自动装卸货的方法第六实施例，此处不再重复。In this embodiment, the function of the sensor in the cargo compartment can refer to the sixth embodiment of the method for automatic loading and unloading of the present invention, which is not repeated here.

图24是本发明自动装卸货设备第七实施例，如图21和图24所示，本发明自动装卸货设备第七实施例的结构与本发明自动装卸货设备第四实施例的结构类似，此处不再赘述，不同之处在于，机器人20进一步包括感知装置203，机器人20利用感知装置203获取储货机构202/传送机构40中待放置货物的空间数据和/或货物信息，根据空间数据和/或货物信息确定待放置货物的获持位姿，并控制机械臂201以该获持位姿取得待放置货物。Figure 24 is a seventh embodiment of the automatic loading and unloading apparatus of the present invention. As shown in Figures 21 and 24, the structure of the seventh embodiment of the automatic loading and unloading apparatus of the present invention is similar to the structure of the fourth embodiment of the automatic loading and unloading apparatus of the present invention. The details are not described here, except that the robot 20 further includes a sensing device 203 that uses the sensing device 203 to acquire spatial data and/or cargo information of the goods to be placed in the storage mechanism 202/transport mechanism 40, according to spatial data. And/or the cargo information determines the held pose of the goods to be placed, and controls the robot arm 201 to obtain the goods to be placed in the held position.

在一个应用例中，该感知装置203包括视觉传感器，该视觉传感器203设置于机械臂201或连接于机械臂201的末端执行器2011。在其他实施例中，第一通信电路也可以设置于感知装置203。In one application, the sensing device 203 includes a visual sensor 203 disposed on the robotic arm 201 or an end effector 2011 coupled to the robotic arm 201. In other embodiments, the first communication circuit can also be disposed on the sensing device 203.

其中，所述视觉传感器是RGBD传感器、三维相机和双目摄像头中的一种。Wherein, the vision sensor is one of an RGBD sensor, a three-dimensional camera and a binocular camera.

该感知装置的作用具体可以参考本发明自动装卸货的方法第一、第三、第四、第七至第十一实施例，此处不再重复。For the function of the sensing device, reference may be made to the first, third, fourth, seventh to eleventh embodiments of the automatic loading and unloading method of the present invention, which are not repeated here.

在另一个应用例中，该感知装置203包括射频识别装置、二维码识别装置或文字识别装置中至少一种，用于识别储货机构202/传送机构40中待放置货物的标签，以使得机器人20获取标签对应的待放置货物的货物信息。其中，该感知装置的具体作用可以参考本发明自动装卸货的方法第九实施例，此处不再重复。In another application, the sensing device 203 includes at least one of a radio frequency identification device, a two-dimensional code recognition device, or a character recognition device for identifying a tag of the cargo to be placed in the storage mechanism 202/transport mechanism 40 such that The robot 20 acquires the cargo information of the goods to be placed corresponding to the label. For the specific function of the sensing device, reference may be made to the ninth embodiment of the method for automatically loading and unloading the present invention, which is not repeated here.

结合图15和图25所示，图25是本发明自动装卸货设备第八实施例，如图21和图25所示，本发明自动装卸货设备第八实施例的结构与本发明自动装卸货设备第四实施例的结构类似，此处不再赘述，不同之处在于，传送机构40进一步包括：设置于对接位置的约束件60。15 and FIG. 25, FIG. 25 is an eighth embodiment of the automatic loading and unloading apparatus of the present invention. As shown in FIG. 21 and FIG. 25, the structure of the eighth embodiment of the automatic loading and unloading apparatus of the present invention and the automatic loading and unloading of the present invention are shown in FIG. The structure of the fourth embodiment of the device is similar, and is not described herein again, except that the transport mechanism 40 further includes: a restraining member 60 disposed at the docking position.

该约束件60包括第一挡板601和第二挡板602，该第一挡板601一端连接于传送机构40，另一端朝向储货机构202，第二挡板602一端连接于传送机构40，另一端朝向储货机构202，第一挡板601和第二挡板602连接传送机构40时呈漏斗状，漏斗开口朝向储货机构202，以使得储货机构202中的待放置货物沿约束件60滑入传送机构40，从而避免货物滑动时掉出储货机构。The restraining member 60 includes a first baffle 601 and a second baffle 602. The first baffle 601 is connected to the transport mechanism 40 at one end and toward the storage mechanism 202 at the other end. The second baffle 602 is connected to the transport mechanism 40 at one end. The other end faces the storage mechanism 202. The first baffle 601 and the second baffle 602 are funnel-shaped when the transfer mechanism 40 is connected, and the funnel opening faces the storage mechanism 202 so that the goods to be placed in the storage mechanism 202 are along the restraining member. 60 slides into the transport mechanism 40 to avoid falling out of the storage mechanism when the cargo slips.

图26是本发明自动装卸货设备第九实施例，如图21和图26所示，本发明自动装卸货设备第九实施例的结构与本发明自动装卸货设备第四实施例的结构类似，此处不再赘述，不同之处在于，进一步包括升降台70，用于在机器人20沿垂直货舱门的方向移动到货舱的目标区域之前，将机器人20抬升到目标高度。其中，目标高度是货舱口与地面的高度差。Figure 26 is a ninth embodiment of the automatic loading and unloading apparatus of the present invention. As shown in Figures 21 and 26, the structure of the ninth embodiment of the automatic loading and unloading apparatus of the present invention is similar to the structure of the fourth embodiment of the automatic loading and unloading apparatus of the present invention. No further details are made here, except that the lifting platform 70 is further included for raising the robot 20 to the target height before the robot 20 moves to the target area of the cargo hold in the direction of the vertical cargo door. Among them, the target height is the height difference between the cargo hatch and the ground.

本实施例中，升降台的具体运作过程可以参考本发明自动装卸货的方法第十三实施例，此处不再重复。In this embodiment, the specific operation process of the lifting platform can refer to the thirteenth embodiment of the method for automatically loading and unloading the present invention, which is not repeated here.

如图27所示，本发明具有存储功能的装置一实施例中，具有存储功能的设备10内部存储有程序101，该程序101被执行时实现如本发明自动装卸货的方法第一至第十三实施例中任一个以及任意不冲突的组合所提供的方法。As shown in FIG. 27, in an embodiment of the present invention having a storage function, the device 10 having a storage function internally stores a program 101, and when the program 101 is executed, the first to tenth methods for realizing automatic loading and unloading according to the present invention are implemented. The method provided by any of the three embodiments and any non-conflicting combination.

其中，具有存储功能的设备10可以是便携式存储介质如U盘、光盘，也可以是机器人、控制***或可集成于机器人中的独立部件，例如控制芯片等。The device 10 having a storage function may be a portable storage medium such as a USB flash drive or an optical disk, or may be a robot, a control system, or a separate component that can be integrated into the robot, such as a control chip or the like.

以上所述仅为本发明的实施方式，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims

一种自动装卸货的方法，其特征在于，包括：A method for automatic loading and unloading, characterized in that it comprises:

机器人从第一位置取得至少一个待放置货物；The robot obtains at least one item to be placed from the first position;

将所述待放置货物放置到第二位置；Placing the to-be-placed goods to a second location;

其中，当所述机器人在货舱中装货时，所述第一位置是在所述机器人的储货机构中，或者在与所述储货机构对接的传送机构中，用于放置所述待放置货物的初始位置，所述第二位置是所述货舱中放置所述待放置货物的目标位置；当所述机器人在所述货舱中卸货时，所述第一位置是所述货舱中放置所述待放置货物的初始位置，所述第二位置是在所述机器人的储货机构中，或者在与所述储货机构对接的传送机构中，用于放置所述待放置货物的目标位置；Wherein, when the robot is loaded in the cargo hold, the first position is in a storage mechanism of the robot, or in a transport mechanism that interfaces with the storage mechanism, for placing the to-be-placed An initial position of the cargo, the second location being a target location in the cargo hold where the cargo to be placed is placed; when the robot is unloading in the cargo hold, the first location is the placement in the cargo hold An initial position of the goods to be placed, the second position being in a storage mechanism of the robot, or in a conveying mechanism docked with the storage mechanism, a target position for placing the goods to be placed;

所述储货机构相对固定于所述机器人的机械臂，带动所述机械臂在所述货舱中运动；所述传送机构根据所述机器人的位置延伸到所述货舱内。The storage mechanism is relatively fixed to the robot arm of the robot to drive the robot arm to move in the cargo hold; the transport mechanism extends into the cargo hold according to the position of the robot.
根据权利要求1所述的方法，其特征在于，所述机器人从第一位置取得至少一个待放置货物之前，包括：The method according to claim 1, wherein before the robot obtains at least one item to be placed from the first location, the method comprises:

所述机器人沿垂直货舱门的方向移动到所述货舱的目标区域，以使得所述传送机构跟随所述机器人移入所述货舱；Moving the robot in a direction perpendicular to the cargo door to a target area of the cargo hold such that the transfer mechanism follows the robot into the cargo hold;

其中，在所述机器人移动到所述目标区域前，所述传送机构相对固定于所述储货机构，跟随所述机器人被动延伸到所述货舱内。Wherein, before the robot moves to the target area, the transport mechanism is relatively fixed to the storage mechanism, and the robot is passively extended into the cargo hold.
根据权利要求1所述的方法，其特征在于，所述机器人从第一位置取得至少一个待放置货物之前，包括：The method according to claim 1, wherein before the robot obtains at least one item to be placed from the first location, the method comprises:

所述机器人沿垂直货舱门的方向移动到所述货舱的目标区域；Moving the robot in a direction perpendicular to the cargo door to a target area of the cargo hold;

所述机器人向所述传送机构/控制***发送所述机器人的位置信息和/或所述目标区域，以使得所述传送机构确定与所述储货机构的对接位置；Transmitting, by the robot, location information of the robot and/or the target area to the transport mechanism/control system to cause the transport mechanism to determine a docking position with the storage mechanism;

其中，所述传送机构利用所述机器人的位置信息和/或所述目标区域计算所述对接位置后，或者所述传送机构接收控制***发送的所述对接位置后，主动延伸到所述对接位置，与所述储货机构对接。Wherein, after the transmitting mechanism calculates the docking position by using the position information of the robot and/or the target area, or after the transmitting mechanism receives the docking position sent by the control system, actively extending to the docking position , docking with the storage mechanism.
根据权利要求3所述的方法，其特征在于，所述机器人的位置信息是通过所述机械臂的视觉传感器获得，所述视觉传感器设置于所述机械臂或连接于所述机械臂的末端执行器。The method according to claim 3, wherein the position information of the robot is obtained by a vision sensor of the robot arm, and the vision sensor is disposed at an end of the robot arm or connected to the robot arm Device.
根据权利要求1所述的方法，其特征在于，当所述机器人在货舱中装货时，所述将所述待放置货物放置到第二位置包括：The method according to claim 1, wherein when the robot is loaded in the cargo hold, the placing the to-be-placed goods to the second position comprises:

获取在货舱中与所述待放置货物相匹配的所述第二位置；Obtaining the second position in the cargo hold that matches the goods to be placed;

规划从所述第一位置到所述第二位置的运动轨迹；Planning a motion trajectory from the first location to the second location;

所述机械臂根据所述运动轨迹运动，将所述待放置货物放置到所述第二位置。The robot arm moves the to-be-placed goods to the second position according to the movement trajectory.
根据权利要求5所述的方法，其特征在于，所述机器人根据所述运动轨迹运动，将所述待放置货物放置到所述第二位置包括：The method according to claim 5, wherein the robot moves the to-be-placed goods to the second position according to the motion trajectory movement, including:

利用所述储货机构转动预定角度，以使得所述第二位置在所述机械臂的运动范围内；Rotating a predetermined angle by the storage mechanism such that the second position is within a range of motion of the robot arm;

所述机械臂根据所述运动轨迹执行，将所述待放置货物放置到所述第二位置；Performing, according to the movement trajectory, the mechanical arm to place the to-be-placed goods to the second position;

其中，所述储货机构相对所述传送机构转动所述预定角度后，所述储货机构与所述传送机构之间利用连接件相对固定连接，所述储货机构与所述传送机构连接位置的宽度大于所述传送机构的宽度。Wherein, after the storage mechanism rotates the predetermined angle with respect to the transport mechanism, the storage mechanism and the transport mechanism are relatively fixedly connected by a connecting member, and the storage mechanism is connected to the transport mechanism. The width is greater than the width of the transport mechanism.
根据权利要求5所述的方法，其特征在于，所述获取在货舱中与所述待放置货物相匹配的所述第二位置包括：The method of claim 5 wherein said obtaining said second location in said cargo bay that matches said item to be placed comprises:

利用所述货舱中的传感器，获得所述目标区域中未放置货物的空间信息；Using the sensors in the cargo hold, obtaining spatial information of unplaced goods in the target area;

在所述目标区域未放置货物的空间中，选择与所述待放置货物相匹配的空间作为所述第二位置。In a space in which the cargo is not placed in the target area, a space matching the goods to be placed is selected as the second position.
根据权利要求1所述的方法，其特征在于，当所述机器人在货舱中装货时，所述机器人从第一位置取得至少一个待放置货物包括：The method of claim 1 wherein when the robot is loaded in the cargo hold, the robot obtaining at least one item to be placed from the first location comprises:

所述机器人利用感知装置获取所述储货机构/所述传送机构中待放置货物的空间数据和/或货物信息；The robot uses the sensing device to acquire spatial data and/or cargo information of the goods to be placed in the storage mechanism/the conveying mechanism;

根据所述空间数据和/或所述货物信息确定所述待放置货物的获持位姿；Determining, according to the spatial data and/or the cargo information, a posture of the goods to be placed;

所述机械臂以所述获持位姿取得所述待放置货物。The robot arm obtains the goods to be placed in the held position.
根据权利要求1所述的方法，其特征在于，当所述机器人在所述货舱中卸货时，所述机器人从第一位置取得至少一个待放置货物包括：The method according to claim 1, wherein when the robot unloads in the cargo hold, the robot obtains at least one item to be placed from the first position comprises:

所述机器人从与所述货舱顶部距离最近的一排货物中，选择至少一个待放置货物；The robot selects at least one item to be placed from a row of goods closest to the top of the cargo hold;

确定取得所述至少一个待放置货物的获持位姿；Determining a position of obtaining the at least one item to be placed;

所述机械臂以所述获持位姿取得所述至少一个待放置货物。The robot arm obtains the at least one item to be placed in the held position.
根据权利要求1所述的方法，其特征在于，当所述机器人在货舱中卸货时，所述将所述待放置货物放置到第二位置包括：The method according to claim 1, wherein when the robot is unloaded in the cargo hold, the placing the to-be-placed goods to the second position comprises:

获取所述储货机构/所述传送机构中与所述待放置货物相匹配的所述第二位置；Obtaining the second position in the storage mechanism/the conveying mechanism that matches the goods to be placed;

规划从所述第一位置到所述第二位置的运动轨迹；Planning a motion trajectory from the first location to the second location;

所述机械臂根据所述运动轨迹运动，将所述待放置货物放置到所述第二位置。The robot arm moves the to-be-placed goods to the second position according to the movement trajectory.
根据权利要求10所述的方法，其特征在于，所述储货机构与所述传送机构对接位置的高度低于所述储货机构中第二位置的高度，以使得所述待放置货物从所述储货机构滑入所述传送机构。The method according to claim 10, wherein a height of the docking position of the stocking mechanism and the transporting mechanism is lower than a height of the second position of the stocking mechanism, so that the goods to be placed are The storage mechanism slides into the conveying mechanism.
根据权利要求11所述的方法，其特征在于，所述传送机构在所述对接位置设置有约束件，所述约束件包括第一挡板和第二挡板，所述第一挡板一端连接于所述传送机构，另一端朝向所述储货机构，所述第二挡板一端连接于所述传送机构，另一端朝向所述储货机构，所述第一挡板和所述第二挡板连接所述传送机构时呈漏斗状，漏斗开口朝向所述储货机构，以使得所述储货机构中的待放置货物沿所述约束件滑入所述传送机构。The method according to claim 11, wherein said conveying mechanism is provided with a restraining member at said docking position, said restraining member comprising a first baffle and a second baffle, said first baffle being connected at one end At the other end of the transport mechanism, the second end of the second baffle is connected to the transport mechanism, and the other end is toward the storage mechanism, the first baffle and the second block The plate is funnel-shaped when the transfer mechanism is coupled, and the funnel opening faces the storage mechanism such that the goods to be placed in the storage mechanism slide into the transfer mechanism along the restraining member.
根据权利要求9所述的方法，其特征在于，所述机械臂以所述获持位姿取得所述至少一个待放置货物包括：The method according to claim 9, wherein the obtaining, by the robot arm, the at least one item to be placed in the held position comprises:

利用所述储货机构转动预定角度，以使得所述第一位置在所述机械臂的运动范围内；Rotating a predetermined angle by the storage mechanism such that the first position is within a range of motion of the robot arm;

所述机械臂以所述获持位姿取得所述至少一个待放置货物；Obtaining, by the robot arm, the at least one item to be placed in the held position;

其中，所述储货机构相对所述传送机构转动所述预定角度后，所述储货机构与所述传送机构之间利用连接件相对固定连接，所述储货机构与所述传送机构连接位置的宽度大于所述传送机构的宽度。Wherein, after the storage mechanism rotates the predetermined angle with respect to the transport mechanism, the storage mechanism and the transport mechanism are relatively fixedly connected by a connecting member, and the storage mechanism is connected to the transport mechanism. The width is greater than the width of the transport mechanism.
根据权利要求2或3所述的方法，其特征在于，所述机器人沿垂直货舱门的方向移动到所述货舱的目标区域之前，包括：The method according to claim 2 or 3, wherein the robot moves in the direction of the vertical cargo door to the target area of the cargo hold, comprising:

所述机器人利用升降台抬升到目标高度；The robot is raised to a target height by using a lifting platform;

其中，所述目标高度是所述货舱口与地面的高度差。Wherein, the target height is a height difference between the cargo hatch and the ground.
一种具有存储功能的装置，存储有程序，其特征在于，所述程序被执行以实现如权利要求1-14任一项所述的方法。A device having a storage function, stored with a program, characterized in that the program is executed to implement the method according to any one of claims 1-14.
一种自动装卸货设备，其特征在于，包括：An automatic loading and unloading device, characterized in that it comprises:

机器人和传送机构，所述机器人包括机械臂和储货机构，所述储货机构相对固定于所述机器臂；a robot and a transport mechanism, the robot comprising a robot arm and a storage mechanism, the storage mechanism being relatively fixed to the robot arm;

所述机器臂用于从第一位置取得至少一个待放置货物，并将所述待放置货物放置到第二位置；The robot arm is configured to take at least one item to be placed from the first position, and place the to-be-placed goods to the second position;

所述储货机构用于放置所述待放置货物，并带动所述机械臂在货舱内运动；The storage mechanism is configured to place the goods to be placed and drive the mechanical arms to move in the cargo hold;

所述传送机构用于传送所述待放置货物，所述传送机构根据所述机器人的位置延伸到所述货舱内；The conveying mechanism is configured to convey the goods to be placed, and the conveying mechanism extends into the cargo space according to a position of the robot;

其中，当所述机器人在货舱中装货时，所述第一位置是在所述机器人的储货机构中，或者在与所述储货机构对接的传送机构中，用于放置所述待放置货物的初始位置，所述第二位置是所述货舱中放置所述待放置货物的目标位置；当所述机器人在所述货舱中卸货时，所述第一位置是所述货舱中放置所述待放置货物的初始位置，所述第二位置是在所述机器人的储货机构中，或者在与所述储货机构对接的传送机构中，用于放置所述待放置货物的目标位置。Wherein, when the robot is loaded in the cargo hold, the first position is in a storage mechanism of the robot, or in a transport mechanism that interfaces with the storage mechanism, for placing the to-be-placed An initial position of the cargo, the second location being a target location in the cargo hold where the cargo to be placed is placed; when the robot is unloading in the cargo hold, the first location is the placement in the cargo hold The initial position of the goods to be placed, the second position being in a storage mechanism of the robot, or in a transport mechanism docked with the storage mechanism, a target position for placing the goods to be placed.
根据权利要求16所述的设备，其特征在于，所述储货机构包括可移动底座，用于在所述机器人从第一位置取得至少一个待放置货物之前，将所述机器人沿垂直货舱门的方向移动到所述货舱的目标区域，以使得所述传送机构跟随所述机器人移入所述货舱；The apparatus according to claim 16 wherein said storage mechanism includes a movable base for positioning said robot along a vertical cargo door before said robot takes at least one item to be placed from said first position Moving in a direction to a target area of the cargo hold such that the transport mechanism follows the robot into the cargo hold;

其中，在所述机器人移动到所述目标区域前，所述传送机构相对固定于所述储货机构，跟随所述机器人被动延伸到所述货舱内。Wherein, before the robot moves to the target area, the transport mechanism is relatively fixed to the storage mechanism, and the robot is passively extended into the cargo hold.
根据权利要求16所述的设备，其特征在于，The device of claim 16 wherein:

所述储货机构包括可移动底座，用于在所述机器人从第一位置取得至少一个待放置货物之前，将所述机器人沿垂直货舱门的方向移动到所述货舱的目标区域；The storage mechanism includes a movable base for moving the robot in a direction of a vertical cargo door to a target area of the cargo hold before the robot takes at least one item to be placed from the first position;

所述机器人进一步包括第一通信电路，用于向所述传送机构发送所述机器人的位置信息和/或所述目标区域，以使得所述传送机构确定与所述储货机构的对接位置；The robot further includes a first communication circuit for transmitting position information of the robot and/or the target area to the transport mechanism to cause the transport mechanism to determine a docking position with the storage mechanism;

所述传送机构进一步包括第二通信电路，用于接收所述机器人的位置信息和/或所述目标区域，以使得所述传送机构在计算所述对接位置后，主动延伸到所述对接位置，与所述储货机构对接。The transfer mechanism further includes a second communication circuit for receiving position information of the robot and/or the target area, such that the transfer mechanism actively extends to the docking position after calculating the docking position, Interfacing with the storage mechanism.
根据权利要求16所述的设备，其特征在于，所述自动装卸货设备进一步包括控制***；The apparatus of claim 16 wherein said automated loading and unloading device further comprises a control system;

所述储货机构包括可移动底座，用于在所述机器人从第一位置取得至少一个待放置货物之前，将所述机器人沿垂直货舱门的方向移动到所述货舱的目标区域；The storage mechanism includes a movable base for moving the robot in a direction of a vertical cargo door to a target area of the cargo hold before the robot takes at least one item to be placed from the first position;

所述机器人进一步包括第一通信电路，用于向所述控制***发送所述机器人的位置信息和/或所述目标区域，以使得所述传送机构确定与所述储货机构的对接位置；The robot further includes a first communication circuit for transmitting location information of the robot and/or the target area to the control system to cause the transmission mechanism to determine a docking position with the storage mechanism;

所述控制***用于利用所述机器人的位置信息和/或所述目标区域计算所述对接位置，并向所述传送机构发送所述对接位置，以控制所述传送机构主动延伸到所述对接位置，与所述储货机构对接。The control system is configured to calculate the docking position by using location information of the robot and/or the target area, and send the docking position to the transport mechanism to control the transport mechanism to actively extend to the docking Position, docking with the storage mechanism.
根据权利要求18或19所述的设备，其特征在于，所述传送机构进一步包括连接件，用于在所述传送机构延伸到所述对接位置时，连接所述储货机构，以实现与所述储货机构的对接。The apparatus according to claim 18 or 19, wherein said conveying mechanism further comprises a connecting member for connecting said storing mechanism when said conveying mechanism extends to said docking position to achieve Describe the docking of the storage organization.
根据权利要求18或19所述的设备，其特征在于，所述自动装卸货设备进一步包括视觉传感器，所述视觉传感器设置于所述机械臂或连接于所述机械臂的末端执行器。18. Apparatus according to claim 18 or claim 19 wherein the automated loading and unloading apparatus further comprises a visual sensor disposed on the robotic arm or an end effector coupled to the robotic arm.
根据权利要求16所述的设备，其特征在于，所述机器人在货舱中装货时，进一步用于获取在货舱中与所述待放置货物相匹配的所述第二位置，规划从所述第一位置到所述第二位置的运动轨迹，并控制所述机械臂根据所述运动轨迹运动，将所述待放置货物放置到所述第二位置。The apparatus according to claim 16, wherein said robot is further configured to acquire said second position in said cargo compartment that matches said cargo to be placed when loading said cargo in said cargo bay, said plan from said A motion trajectory of the position to the second position, and controlling the mechanical arm to move according to the motion trajectory to place the item to be placed to the second position.
根据权利要求22所述的设备，其特征在于，所述机器人进一步用于控制所述储货机构转动预定角度，以使得所述第二位置在所述机械臂的运动范围内，并控制所述机械臂根据所述运动轨迹的角度和速度运动，将所述待放置货物放置到所述第二位置；The apparatus according to claim 22, wherein said robot is further configured to control said stocking mechanism to rotate by a predetermined angle such that said second position is within a range of motion of said robot arm and to control said The robot arm moves the to-be-placed cargo to the second position according to the angle and velocity movement of the motion trajectory;

其中，所述储货机构相对所述传送机构转动所述预定角度后，所述储货机构与所述传送机构之间利用连接件相对固定连接，所述储货机构与所述传送机构连接位置的宽度大于所述传送机构的宽度。Wherein, after the storage mechanism rotates the predetermined angle with respect to the transport mechanism, the storage mechanism and the transport mechanism are relatively fixedly connected by a connecting member, and the storage mechanism is connected to the transport mechanism. The width is greater than the width of the transport mechanism.
根据权利要求22所述的设备，其特征在于，所述自动装卸货设备进一步包括：设置于货舱中的传感器，用于获得所述目标区域中未放置货物的空间信息，以使得所述机器人在所述目标区域未放置货物的空间中，选择与所述待放置货物相匹配的空间作为所述第二位置。The apparatus according to claim 22, wherein said automatic loading and unloading apparatus further comprises: a sensor disposed in the cargo bay for obtaining spatial information of unplaced goods in said target area, such that said robot is In the space where the target area is not placed with the goods, a space matching the goods to be placed is selected as the second position.
根据权利要求16所述的设备，其特征在于，所述机器人进一步用于利用感知装置获取所述储货机构/所述传送机构中待放置货物的空间数据和/或货物信息，根据所述空间数据和/或货物信息确定所述待放置货物的获持位姿，并控制所述机械臂以所述获持位姿取得所述待放置货物。The apparatus according to claim 16, wherein said robot is further configured to acquire, by means of a sensing device, spatial data and/or cargo information of said cargo to be placed in said storage mechanism/transporting mechanism, according to said space The data and/or cargo information determines the held pose of the item to be placed, and controls the robotic arm to obtain the item to be placed in the held position.
根据权利要求16所述的设备，其特征在于，所述机器人在所述货舱中卸货时，进一步用于从与所述货舱顶部距离最近的一排货物中，选择至少一个待放置货物，确定取得所述至少一个待放置货物的获持位姿，控制所述机械臂以所述获持位姿取得所述至少一个待放置货物。The apparatus according to claim 16, wherein said robot is further configured to, when unloading in said cargo hold, further select at least one item to be placed from a row of goods closest to the top of said cargo hold, and determine to obtain Holding the at least one position of the goods to be placed, controlling the robot arm to obtain the at least one item to be placed in the held position.
根据权利要求26所述的设备，其特征在于，所述机器人进一步用于获取所述储货机构/所述传送机构中与所述待放置货物相匹配的所述第二位置，规划从所述第一位置到所述第二位置的运动轨迹，控制所述机械臂根据所述运动轨迹运动，将所述待放置货物放置到所述第二位置。The apparatus according to claim 26, wherein said robot is further configured to acquire said second position in said storage mechanism/transport mechanism that matches said item to be placed, planning from said A motion trajectory of the first position to the second position controls the mechanical arm to move the to-be-placed cargo to the second position according to the movement trajectory.
根据权利要求27所述的设备，其特征在于，所述储货机构与所述传送机构对接位置的高度低于所述储货机构中第二位置的高度，以使得所述待放置货物从所述储货机构滑入所述传送机构。The apparatus according to claim 27, wherein a height of the docking position of the stocking mechanism and the transporting mechanism is lower than a height of the second position of the stocking mechanism, such that the goods to be placed are The storage mechanism slides into the conveying mechanism.
根据权利要求28所述的设备，其特征在于，所述传送机构进一步包括：设置于所述对接位置的约束件；The apparatus according to claim 28, wherein said transport mechanism further comprises: a restraining member disposed at said docking position;

所述约束件包括第一挡板和第二挡板，所述第一挡板一端连接于所述传送机构，另一端朝向所述储货机构，所述第二挡板一端连接于所述传送机构，另一端朝向所述储货机构，所述第一挡板和所述第二挡板连接所述传送机构时呈漏斗状，漏斗开口朝向所述储货机构，以使得所述储货机构中的待放置货物沿所述约束件滑入所述传送机构。The restraining member includes a first baffle and a second baffle, the first baffle is connected to the transport mechanism at one end, the other end is toward the storage mechanism, and the second baffle is connected to the transport at one end a mechanism, the other end is toward the storage mechanism, the first baffle and the second baffle are funnel-shaped when the transport mechanism is connected, and the funnel opening faces the storage mechanism, so that the storage mechanism The goods to be placed are slid into the conveying mechanism along the restraining member.
根据权利要求26所述的设备，其特征在于，所述机器人控制所述储货机构转动预定角度，以使得所述第一位置在所述机械臂的运动范围内，并控制所述机械臂以所述获持位姿取得所述至少一个待放置货物；The apparatus according to claim 26, wherein said robot controls said stocking mechanism to rotate by a predetermined angle such that said first position is within a range of motion of said robot arm and controls said robot arm to Obtaining the at least one item to be placed;

其中，所述储货机构相对所述传送机构转动所述预定角度后，所述储货机构与所述传送机构之间利用连接件相对固定连接，所述储货机构与所述传送机构连接位置的宽度大于所述传送机构的宽度。Wherein, after the storage mechanism rotates the predetermined angle with respect to the transport mechanism, the storage mechanism and the transport mechanism are relatively fixedly connected by a connecting member, and the storage mechanism is connected to the transport mechanism. The width is greater than the width of the transport mechanism.
根据权利要求17-19任一项所述的设备，其特征在于，所述自动装卸货设备进一步包括升降台，用于在所述机器人沿垂直货舱门的方向移动到所述货舱的目标区域之前，将所述机器人抬升到目标高度；Apparatus according to any one of claims 17 to 19, wherein said automatic loading and unloading apparatus further comprises a lifting platform for moving said robot in a direction of a vertical cargo door to a target area of said cargo hold Raising the robot to the target height;

其中，所述目标高度是所述货舱口与地面的高度差。Wherein, the target height is a height difference between the cargo hatch and the ground.