WO2022120931A1 - 快递供包***、方法、设备及存储介质 - Google Patents

快递供包***、方法、设备及存储介质 Download PDF

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Publication number
WO2022120931A1
WO2022120931A1 PCT/CN2020/137959 CN2020137959W WO2022120931A1 WO 2022120931 A1 WO2022120931 A1 WO 2022120931A1 CN 2020137959 W CN2020137959 W CN 2020137959W WO 2022120931 A1 WO2022120931 A1 WO 2022120931A1
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WIPO (PCT)
Prior art keywords
package
point
robot
accessible
path planning
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PCT/CN2020/137959
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English (en)
French (fr)
Inventor
王辉
田亮
刘岩龙
卢贤刚
张帅
Original Assignee
梅卡曼德（北京）机器人科技有限公司
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Publication of WO2022120931A1 publication Critical patent/WO2022120931A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/10—Apparatus characterised by the means used for detection ofthe destination
    • B07C3/14—Apparatus characterised by the means used for detection ofthe destination using light-responsive detecting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/18—Devices or arrangements for indicating destination, e.g. by code marks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots

Definitions

  • the invention relates to the technical field of intelligent manufacturing, and in particular, to a system, method, device and storage medium for express package supply.
  • the process of entering express parcels from the collection container to the sorting system is called "package supply", that is, supplying express parcels to the sorting system.
  • the package is delivered to the destination identification device of the sorting system for destination identification.
  • the traditional "package supply” is manually operated, or, using the mechanical principle, the single-piece separator is combined with a variety of conveyor belt (or transmission shaft) structures to perform batch "package supply".
  • the single-piece separator can be as shown in Figure 1. Show.
  • the present invention aims to provide a system for supplying packages by express, which can effectively improve the intelligence of supplying packages.
  • the second object of the present invention is to provide a method for express package supply.
  • a third object of the present invention is to provide a computer-readable storage medium.
  • the fourth object of the present invention is to provide a package supply device for express delivery.
  • an embodiment of the first aspect of the present invention proposes a system for delivering packages by express, including: a visual trigger, an image recognizer, a motion planner, and a control signal generator, wherein the visual trigger triggers the image collector to be acquired
  • the image data of the package is collected; the image recognizer recognizes the image data to obtain the package distribution of the package to be acquired and the information of the most accessible package;
  • the motion planner generates the robot path planning result according to the package distribution and the information of the most accessible package , so that the robot can move the most easily obtained package according to the robot path planning result for package supply;
  • the control signal generator adjusts the state of the acquirer during the image data recognition process and the robot path planning result generation process.
  • the image collector is triggered to collect the image data of the package to be acquired through the visual trigger, and the image data is recognized by the image recognizer to obtain the package distribution of the package to be acquired and the easiest acquisition.
  • the information of the package, and the robot path planning result is generated by the motion planner according to the distribution of the package and the information of the most accessible package, so that the robot can move the most accessible package according to the robot path planning result, and control the signal generator in the image data recognition process. In the process of generating the robot path planning result, adjust the state of the acquirer.
  • the system can effectively improve the intelligence of the package supply.
  • a second aspect of the present invention provides a method for supplying packages by express delivery, which includes the following steps: collecting image data of the package to be acquired, and identifying the image data to obtain the package distribution of the package to be acquired and the easiest way to obtain the package.
  • the image data of the package to be acquired is collected, and the image data is identified to obtain the distribution of the packages to be acquired and the information of easy-to-obtain packages, and at the same time, the state of the acquirer of the robot is adjusted. , and then generate the robot path planning result according to the package distribution and the information that is easiest to obtain the package, so that the robot can move the most easily obtained package according to the robot path planning result, and in the process of generating the robot path planning result and the process of the robot moving the most easy to obtain the package Adjust the status of the acquirer, and then check whether the acquirer successfully obtains the most accessible package. If the most accessible package is successfully acquired, scan the code to identify the most accessible package, and push the most accessible package to the corresponding category for delivery according to the identification result. line, which can effectively improve the intelligence of the package supply.
  • the embodiment of the third aspect of the present invention provides a computer-readable storage medium on which an express package supply program is stored, and the express package supply program is executed by the express package supply system to realize the above-mentioned express package supply method.
  • the intelligence level of supplying packages can be effectively improved.
  • the fourth aspect of the present invention provides a package delivery device for express delivery, which includes an image collector, a robot, a code scanning platform, a plurality of code scanning devices corresponding to the code scanning platform, and a plurality of code scanning devices corresponding to the code scanning platform.
  • the image collector is located above the package to be acquired, and is used to collect the image data of the package to be acquired; the package to be acquired and the scanning platform are located within the operating range of the robot, and the robot is used to move the most easily acquired package among the packages to be acquired.
  • the package is sent to the scanning platform; the field of view of multiple code scanners surrounds the scanning platform, and the scanning equipment is used to scan the code to identify the easiest to obtain the package;
  • the code platform is used to push the most accessible packages to the corresponding classification conveyor line;
  • the control device includes an express package supply system to realize package supply according to the express package supply method.
  • the image data of the package to be acquired is collected by the image collector, and the most easily acquired package among the packages to be acquired is moved by the robot to the scanning platform, and scanned by multiple code scanners.
  • Code identification is the easiest to obtain the package, and the most easily obtained package is pushed to the corresponding classification conveyor line through the code scanning platform, and the image collector, robot, code scanning platform and multiple code scanners are processed by the control device according to the express delivery method. Control to move the package to be obtained to the corresponding classification conveyor line, the equipment occupies a small area and the price is relatively cheap, which can effectively solve the problem of large area and high cost of express package supply equipment, and can improve the intelligence of package supply.
  • Fig. 1 is the structural representation of express package supply equipment in the related art
  • FIG. 2 is a schematic block diagram of an express delivery system according to an embodiment of the present invention.
  • Figure 3a is a schematic diagram of the movement of the most accessible package according to an embodiment of the present invention.
  • Figure 3b is a schematic diagram of the movement of the most accessible package according to another embodiment of the present invention.
  • FIG. 4 is a schematic block diagram of an express delivery system according to another embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of a method for supplying packages by express delivery according to an embodiment of the present invention
  • FIG. 6 is a schematic structural diagram of a package supply device for express delivery according to an embodiment of the present invention.
  • 110 visual trigger
  • 120 image recognizer
  • 130 motion planner
  • 140 control signal generator
  • 150 execution planner
  • 160 data transmitter
  • 210 image collector
  • 220 robot
  • 221 acquisition 230: Scanning platform
  • 231 The table of the scanning platform
  • 232 Pushing cylinder
  • 240 Scanning device
  • 250 Sorting conveyor line
  • 260 Sweeping platform
  • 270 Bracket.
  • an express package supply system may include: a visual trigger 110 , an image recognizer 120 , a motion planner 130 and a control signal generator 140 .
  • the visual trigger 110 triggers the image collector to collect the image data of the package to be acquired; the image recognizer 120 recognizes the image data to obtain the package distribution of the package to be acquired and the information of the most easily acquired package; the motion planner 130 according to the package The distribution situation and the information of the most accessible package generate the robot path planning result, so that the robot 220 (not specifically shown in FIG. 2 ) moves the most accessible package according to the robot path planning result to supply the package; the control signal generator 140 is in the image The state of the acquirer 221 (not specifically shown in FIG. 2 ) is adjusted in the process of data identification and in the process of generating the robot path planning result.
  • the distribution of packages in some embodiments includes the position of each package in the image data, and/or the overlapping area of stacking between the packages.
  • the most accessible package may be determined according to the distance of the package from the acquirer 221, whether the package is at the edge, and the number of obstacles around the package (the obstacles in this embodiment may include other packages around the determined package).
  • the information of the most easily obtainable package includes the size, position, and attitude of the most easily obtained package, or, the most easily obtained information of the package includes the size, the obtained position, and the obtained attitude, and the like.
  • the acquired position and the acquired gesture respectively include a position point at which the acquirer 221 touches the package and the gesture of touching the package when acquiring the package.
  • the acquirer 221 may be a clamp, a suction cup, a suction cup set, or any combination of the foregoing.
  • the visual trigger 110 triggers the image collector 210 , such as a 3D smart camera, to take pictures of the unordered packages to be acquired that are in a static state on the pick-up chute to acquire image data, and transmit the image data through data transmission.
  • the image recognizer 120 is sent to the image recognizer 160 .
  • the image recognizer 120 receives the image data, recognizes the image data, obtains the distribution of the packages to be obtained on the pick-up chute, selects the most accessible package, and determines the information about the most accessible package.
  • the image recognizer 120 can obtain the package A by recognizing the image data.
  • the distribution located in the upper part of package B identifies the conclusion.
  • the image recognizer 120 can recognize that package A, package B, and package C are adjacent to each other by recognizing the image data. placed conclusion.
  • each wrapping in the image data is placed on the corresponding plane after being placed on the corresponding plane.
  • the distribution of the packages to be acquired may be identified by establishing a model of the packages to be acquired.
  • the image recognizer 120 can analyze the ease of grabbing package A is higher than that of grabbing package B according to the image data, and then determine that package A is the easiest package to acquire. If the packages to be acquired are placed adjacently in one plane, adjacent in multiple planes, or adjacent in multiple non-adjacent planes, the distance to the acquirer 221 can be the closest, or the surrounding obstacles can be the least when moving. , or the package on the edge is determined to be the most accessible package.
  • the image recognizer 120 can determine the information of the most accessible package to move it.
  • the most accessible package includes the package that is most easily acquired by the acquirer 221 .
  • the most easily obtainable information of the package includes the size, position, and posture of the most easily obtainable package, and the acquisition position and the acquisition posture when acquiring the package can be calculated according to the aforementioned three.
  • the most easily obtainable package is the package A in it
  • the volume and the position point X3 of the package A are obtained.
  • the obtained posture is obtained along the normal direction.
  • the control signal generator 140 also adjusts the state of the acquirer 221, the control signal generator 140 generates a control signal, and sends a control signal through the data transmitter 160 to adjust the state of the acquirer 221, In order to make the state of the acquirer 221 closer to the state when the package is most easily obtained. Since the state of the acquirer 221 is adjusted to mechanical motion, the speed of which is far lower than the processing speed of each processor, and the state of the acquirer 221 is adjusted during the image data recognition process (ie, before the acquisition operation actually occurs) to be closer to the actual The state at the time of acquisition, this operation can improve the work efficiency of the whole device.
  • adjusting the state of the acquirer 221 includes adjusting the driving state of the acquirer 221 .
  • the acquirer 221 is a clamp
  • adjusting the state of the acquirer 221 is embodied as adjusting the opening angle of the clamp
  • adjusting the state of the acquirer 221 is embodied in adjusting the suction force of the suction cup
  • the acquirer 221 is a suction cup group
  • adjusting the state of the acquirer 221 is embodied in adjusting the number of suction cups opened by the suction cup group and/or the suction force of the opened suction cups.
  • the motion planner 130 After receiving the distribution of the packages to be acquired and the information about the most accessible packages transmitted by the data transmitter 160, the motion planner 130 generates a robot path planning result according to the distribution of the packages and the information about the most accessible packages, and transmits the results through the data transmission.
  • the controller 160 sends the package to the robot 220, and the robot 220 obtains the most accessible package according to the received path planning result.
  • the robot 220 moves the most accessible package from the pick-up chute to the code scanning platform 230 for subsequent code scanning identification of the most accessible package.
  • the control signal generator 140 also adjusts the state of the acquirer 221 so that the state of the acquirer 221 is in a state that matches the most accessible package. It can be understood that, during the robot path planning, the information of the most accessible package has been obtained, and in some embodiments, the size of the most accessible package can be determined. Therefore, the state of the acquirer 221 can be determined by some of the foregoing embodiments. In the "closer to the actual acquisition state" is adjusted to "the actual acquisition state". In the process of path planning, the above adjustment is actually started to adjust the acquirer 221 to the actual acquisition state before the actual movement of the robot 220, so that the slower mechanical movement (compared to the processing speed of the processor) is advanced in advance to improve the efficiency of package acquisition.
  • the image collector is triggered by a visual trigger to collect image data of the package to be acquired, and the image data is identified by the image recognizer to obtain the package distribution of the package to be acquired and the information of the most easily acquired package, and Through the motion planner, the robot path planning result is generated according to the distribution of the package and the information of the most accessible package, so that the robot can move the most accessible package according to the robot path planning result. Adjusts the state of the getter during result generation.
  • the system provided according to the embodiment of the present invention can realize the intelligent package supply function of the robot, and can improve the intelligence level of package supply compared with the prior art.
  • the processors in the system divide labor and cooperate, and in some processes, the image recognizer and the control signal generator work synchronously, and the motion planner and the control signal generator work synchronously, and cooperate closely, thereby realizing the process of supplying packages.
  • the function of performing slower (compared to the data processing speed of the processor) mechanical movement in advance improves the intelligence of the package supply from the perspective of package supply efficiency.
  • the control signal generator 140 keeps the acquirer 221 in a state to be adjusted during the image data recognition process.
  • the to-be-adjusted state may be embodied as the acquirer 221 being turned on; or, in another part of the embodiments, the to-be-adjusted state may be embodied as the state of the acquirer 221 being closer to the state when the most accessible package is finally acquired.
  • the robot path planning result generated by the motion planner 130 includes the acquisition path planning result of the robot 220 and the placement path planning result of the robot.
  • the motion planner 130 is configured to generate an acquisition path planning result, specifically for determining the pre-planned point before the acquisition position point and the point after the acquisition position point according to the package distribution and the volume of the most accessible package , and generate the acquisition path planning result according to the acquisition position and posture of the most easily acquired package, the point before the acquisition point and the point after the acquisition point, and the starting position of the current robot.
  • the information of the most easily obtainable package includes the most easily obtained volume of the package, the obtained location point, and the obtained attitude.
  • the points before and after the acquisition of the location point are related to the distribution of the package and the volume of the most easily acquired package, and are used for obstacle avoidance near the acquisition location of the most easily acquired package.
  • the scooping chute has a baffle
  • the above two points are also related to the height of the baffle.
  • the motion planner 130 may first determine the pre-planned point before the acquisition position point and the point after the acquisition position point according to the distribution of the package and the volume of the most accessible package. For example, a scene model that is consistent with the real environment can be pre-established by the image recognizer 120 and updated in real time, and the scene model can be sent to the motion planner 130 through the data transmitter 160. After receiving the scene model, the motion planner 130 can The scene model determines the pre-planned point before the acquisition position and the point after the acquisition position according to the distribution of the package and the volume of the most accessible package. Illustratively as shown in FIG.
  • X2 is the point before the acquisition location point
  • X3 is the acquisition location point
  • X4 is the point after the acquisition location point.
  • the acquirer 221 first moves to the point before the acquisition location point, then acquires the package A at the acquisition location point, carries the package A up to the X4 point, and then moves to the place where it is placed.
  • the most accessible package in actual use may be determined according to the prior art, as shown in FIG. 3b exemplarily. If the most accessible package is determined to be package A according to the prior art, it is A. The height of the package C and the position of the package A are based on the set point X4 after the acquisition position, so that X4 is high enough to prevent the package A from colliding with the package C.
  • the motion planner 130 generates an acquisition path planning result according to the acquisition position point and acquisition posture of the most easily acquired package, the point before the acquisition position point and the point after the acquisition position point, and the starting position of the current robot. For example, referring to FIG. 3a, the motion planner 130 obtains a position point such as X3 and an acquisition attitude, a point before the acquisition position point such as X2, a point after the acquisition position point such as X4, and the current robot The starting position is X1, carry out the robot acquisition path planning, generate the robot acquisition path planning result, and send it to the robot 220 (not shown in FIG. 3a) through the data transmitter 160, and the robot 220 obtains the most easily obtained according to the acquisition path planning result.
  • Package as Package A.
  • the motion planner 130 can first detect the robot starting position in the scene model, such as between X1 and the acquisition position point such as X3, and When the robot moves between two points, the obstacle of the space occupied by each posture, if there is no obstacle, the point before the acquisition of the position point such as X2, the acquisition of the position point such as X3, the acquisition of the posture, the point after the acquisition of the position point such as X4 is sent to the robot 220, allowing it to freely plan movements based on this information.
  • the robot detour posture can be set according to the obstacle situation
  • the robot detour posture can be set according to the obstacle situation
  • the robot starting position such as X1 To the corresponding position between the point before the acquisition position point such as X2, the point before the acquisition position point such as X2 to the acquisition position point such as X3, the acquisition position point such as X3 to the point after the acquisition position point such as X4, insert the obstacle detour point, and then Complete the acquisition path planning, and send the relevant points and robot detour attitude (if any) to the robot 220 to make it move, for example, if there is an obstacle between the starting position and the point before the acquisition position point and an obstacle detour is inserted point, then control the robot arm to move from the robot starting position to the obstacle detour point, then move to the point before the acquisition point, and then move to the acquisition point, and control the acquirer 221 at the acquisition point to clamp the most easily acquired package
  • the control signal generator 140 adjusts the opening degree of the acquirer 221 according to the volume of the most accessible package before the robot 220 moves the most accessible package to the point before the acquisition position point.
  • the control signal generator 140 is controlled according to the most easily acquired package, such as the package A to be acquired. Adjust the opening degree of the jig according to the volume of the jig. If the most accessible package, such as package A, has a larger volume, control the jig to open a larger angle; Such as the volume of package A to match. In this way, the state of the acquirer 221 is adjusted while the robot is moving, so as to avoid the situation that the clamp is not yet opened when the robot moves to the point before the acquisition position, which can effectively improve the working efficiency of the device.
  • the control signal generator 140 adjusts the suction of the suction cup according to the volume of the most accessible package.
  • Strength or the number of suction cups of the suction cup group
  • control the suction cup to open a larger suction force or determine the number of suction cups of the suction cup group to be larger
  • control the suction cup A smaller suction force is turned on (or the opening number of suction cups of the suction cup group is determined as a smaller value), so that the obtainer 221 can obtain the most easily obtained package more stably.
  • the state of the acquirer 221 is adjusted while the robot is moving, which can effectively improve the working efficiency of the device.
  • the motion planner 130 is configured to generate a placement path planning result, and is specifically configured to determine the placement reference point and the actual placement point of the most accessible package according to the volume of the most accessible package, and determine the placement reference point and the actual placement point of the most accessible package according to the volume of the most accessible package, and determine the placement reference point and the actual placement point of the most accessible package according to the volume of the most accessible package, and determine the placement reference point and the actual placement point of the most accessible package according to the volume of the most accessible package. Points, and after obtaining the location point, the point generates the placement path planning result.
  • the motion planner 130 may also determine the placement reference point based on the scene model and information about the most accessible package, and determine the placement reference point according to the obstacles around the placement reference point and the most accessible package location.
  • Information and package placement position determine the real placement point, that is, the real location point, and carry out placement path planning according to the principle similar to obtaining path planning, and send the placement path planning result to the robot 220 through the data transmitter to make it place the package in the real position. location point.
  • the motion planner 130 determines a placement reference point such as X5 according to the volume of the most accessible package, such as the package A to be acquired, based on the scene model, and determines the placement reference point such as X5 according to the obstacles around X5, the most accessible package
  • the volume of the package A to be obtained and the position of the placement plane determine the real placement point, that is, the real position point such as X6, and the setting of the placement reference point such as X5 helps to avoid obstacles during the placement process.
  • the motion planner 130 detects the obstacle situation of the space occupied by each posture when the point after the acquisition position point in the scene model is between X4 and the placement reference point X5, and when the robot moves between the two points.
  • control signal generator 140 detects whether the acquirer 221 successfully acquires the most accessible package before the robot 220 moves the most accessible package to the actual placement point; the control signal generator 140 controls the signal generator 140 before the robot 220 moves the most accessible package When the actual placement point is reached, the control acquirer 221 is in a relaxed state in order to place the most accessible package.
  • the control signal generator 140 before the robot 220 controls the acquirer 221 to move to the actual placement point, the control signal generator 140 also activates the sensor on the acquirer 221 through the data transmitter 160 to identify the most accessible package, such as whether the acquisition is successful, and if the acquisition is successful , the robot 220 continues to move, and when the robot 220 moves to the actual placement point, the control signal generator 140 controls the acquirer 221 to be in a relaxed state through the data transmitter 160 and then controls it to stop, so as to realize the placement of the most easily acquired package, Otherwise, the control robot 220 stops moving and returns to the starting position to reduce the invalid placement process. Alternatively, if the robot 220 fails to acquire the package, the robot 220 can be controlled to return to the acquisition location to acquire the package again.
  • the robot 220 places the most accessible packages where required by the package supply system.
  • the robot 220 places the most accessible package on the code scanning platform 230 to provide a reference for subsequent sorting, and the specific control signal generator 140 triggers the code scanner 240 to scan the code to identify the most accessible package, and according to The identification result pushes the most accessible package to the corresponding sorting conveyor line 250 .
  • the control signal generator 140 triggers the code scanner 240, such as a code scanning camera, to perform code scanning identification on the most easily obtainable package, such as the express information on the package A, and according to the scanning code identification result, trigger the side of the scanning code platform 230.
  • the push cylinder 232 is activated to push the most accessible package such as package A to one of the sorting conveyor lines 250 or activated by triggering the revolving door of the code scanning platform 230 to push the most accessible package such as package A to the other sorting conveyor line 250 (After the revolving door is activated, the table surface of the scanning platform 230 is inclined downward at a certain angle, so that the package A can slide down to the corresponding sorting and conveying line). Then, the control signal generator 140 controls the code scanner 240 to clear the data of the code scanning camera to prepare for the next cycle.
  • the visual trigger 110 triggers the image collector 210 again, such as a 3D smart camera, to take pictures to obtain image data on the collection chute, so as to prepare for the next package acquisition,
  • the motion planner 130 determines the avoidance point of the robot 220 based on the scene model, and generates an avoidance path planning result based on the avoidance point of the robot 220, so that the robot 220 moves to the avoidance point, so as to prevent occlusion during the package scanning and identification process.
  • the visual trigger 110 , the image collector 210 , the image recognizer 120 , the motion planner 130 , the control signal generator 140 and the robot 220 all pass the same data
  • the transmitter 160 communicates.
  • the data transmitter 160 may include a plurality of data transmitters, which can be selected and set according to actual needs. There is no limitation here, as long as fast and efficient data transmission can be achieved.
  • the express package delivery system may further include an execution planner 150 , and the execution planner 150 may communicate with the visual trigger 110 , the image recognizer 120 , and the motion planner 130 through the data transmitter 160 .
  • the execution planner 150 can perform classification planning according to the partition attribute, and then call other devices according to the execution progress of each device, so as to speed up the work cycle. That is to say, each device in the foregoing embodiment can be managed by the execution planner 150 as a whole, so as to reasonably allocate tasks from a global perspective of the system, thereby speeding up the work efficiency of the entire device.
  • the image data of the package to be acquired is collected by the visual trigger, and the image data is recognized by the image recognizer to obtain the package distribution of the package to be acquired and the most easily acquired package. information, and generate the robot path planning result according to the package distribution and the most accessible package information through the motion planner, so that the robot can obtain the most accessible package according to the robot path planning result, and control the signal generator in the image data recognition process. .
  • the state of the acquirer is adjusted during the generation of the robot path planning result, so as to improve the intelligence of the package supply.
  • an embodiment of the present invention provides a method for supplying packages by express delivery. Referring to FIG. 5 , the method includes the following steps:
  • step S101 image data of the package to be acquired is collected.
  • Step S102 identifying the image data to obtain the package distribution of the packages to be obtained and the information of the most easily obtainable packages, and adjusting the state of the obtainer of the robot during the image data identification process.
  • Step S103 generating a robot path planning result according to the distribution of the packages and the information about the most easily obtainable packages, so that the robot moves the most easily obtained packages according to the robot path planning results, and in the process of generating the robot path planning results and the robot moves the most easily obtained packages Adjust the state of the getter in .
  • the robot path planning result includes obtaining the path planning result, and generating the robot path planning result according to the package distribution and the information of the most accessible package, including: determining the path pre-planning according to the package distribution and the volume of the most accessible package The point before and after the acquisition position point, and the acquisition path plan is generated according to the acquisition position point and acquisition attitude of the most easily obtained package, the point before the acquisition position point and the point after the acquisition position point, and the starting position of the current robot.
  • the most easily obtainable information of the package includes the most easily obtainable volume of the package, the obtained location point, and the obtained attitude.
  • generating the robot path planning result according to the distribution of the packages and the information that the packages are most easily obtained further comprising: detecting between the starting position of the robot and the obtaining position point, and detecting the distance between the starting position of the robot and the obtaining position point of the robot
  • the obstacle situation of the space occupied by each posture when moving in time if there is no obstacle, the acquisition path planning result is generated according to the point before the position point, the position point, the posture and the point after the position point; if there is an obstacle, according to the obstacle situation Determine the obstacle detour point and the robot detour attitude, and generate the acquisition path plan according to the obstacle detour point, the robot detour posture, the point before the position point, the point after the position point, the position point, and the starting position of the current robot result.
  • the image recognizer 120 will re-determine the most accessible package.
  • the package is then planned by the motion planner 130 to generate an acquisition path planning result.
  • the robot path planning result includes a placement path planning result
  • generating the robot path planning result according to the package distribution and the information of the most accessible package includes: determining a placement reference of the most accessible package according to the volume of the most accessible package Points and real placement points, and generate placement path planning results based on placement reference points, real placement points, and points after obtaining location points.
  • generating a path planning result of the robot according to the distribution of the packages and the information that the packages are most easily obtained further comprising: detecting between the point after the acquired position point and the actual placement point, and the point of the robot after the acquisition of the position point to the actual placement point Obstacles in the space occupied by each posture when moving between points; if there is no obstacle, the placement path planning result will be generated according to the point after the location point, the placement reference point and the real placement point; if there is an obstacle, the obstacle will be determined according to the obstacle.
  • adjusting the state of the acquirer during the generation process of the robot path planning result and the process of moving the most accessible package by the robot includes: before the robot moves the most accessible package to the point before the acquisition position
  • the volume of the package adjusts the degree of opening of the getter; when the robot moves the most accessible package to the actual placement point, stop the getter and make it in a relaxed state, so as to place the most accessible package.
  • Step S104 detecting whether the acquirer successfully acquires the most easily acquired package.
  • Step S105 if the acquirer successfully acquires the most accessible package, scan the code to identify the most accessible package, and push the most accessible package to the corresponding classification conveyor line according to the identification result.
  • the method before scanning the code to identify the most easily obtainable package, the method further includes: determining an avoidance point of the robot; and generating an avoidance path planning result according to the avoidance point.
  • the image data of the package to be acquired is collected, and the image data is identified to obtain the distribution of the packages to be acquired and the information of easy-to-obtain packages, and at the same time, the state of the acquirer of the robot is adjusted. , and then generate the robot path planning result according to the package distribution and the information that is easiest to obtain the package, so that the robot can move the most easily obtained package according to the robot path planning result, and in the process of generating the robot path planning result and the process of the robot moving the most easy to obtain the package Adjust the status of the acquirer, and then check whether the acquirer successfully obtains the most accessible package.
  • the most accessible package If the most accessible package is successfully acquired, scan the code to identify the most accessible package, and push the most accessible package to the corresponding category for delivery according to the identification result. Therefore, it can effectively solve the problem that the express package supply equipment occupies a large area and is expensive, and at the same time, it can improve the intelligence of the package supply.
  • an embodiment of the present invention provides a computer-readable storage medium on which an express package supply program is stored, and when the express package supply program is executed by the package supply system provided in the first aspect, the express package supply program of the second aspect is implemented method.
  • the computer-readable storage medium of the embodiment of the present invention by executing the above-mentioned method for supplying packages by express delivery, the intelligence of supplying packages can be improved.
  • an embodiment of the present invention provides a package supply device for express delivery, as shown in FIG. 6 , including:
  • An image collector 210 Shows).
  • the image collector 210 is located above the package to be acquired, and is used to collect image data of the package to be acquired; the package to be acquired and the code scanning platform 230 are located within the operating range of the robot 220, and the robot 220 is used to move the package to be acquired.
  • the most easily obtained package is to the scanning platform 230; the field of view of the plurality of code scanners 240 surrounds the scanning platform 230, and the scanning device 240 is used to scan the code to identify the most easily obtained package; the table 231 of the scanning platform 230 is a revolving door , and a push cylinder 232 is set on one side, and the scanning platform 230 is used to push the most accessible packages to the corresponding classification conveying line 250; the control includes an express package supply system, so that other parts of the equipment can supply packages according to the express package supply method. .
  • the image data of the package to be acquired is collected by the image collector, and the most accessible package among the packages to be acquired is moved by the robot, which can realize package supply, and can effectively solve the problem of express package supply equipment.
  • control device includes an execution planner, a visual trigger, an image recognizer, a motion planner, a control signal generator, and a data transmitter.
  • the device provided by the present invention further includes: a collection platform 260, which is used for placing the packages to be obtained.
  • the collecting platform 260 is used as a collecting container for collecting express delivery packages that are to be obtained, and the collecting platform 260 may be a collecting chute.
  • the image collector 210 can be a 3D smart camera, etc., and is disposed on the bracket 270 on one side of the collecting platform 260 and above the collecting platform 260 , and is used to collect image data of the package to be acquired on the collecting platform 260 .
  • the robot 220 may be a six-axis industrial robot, etc., located on the opposite side of the receiving platform 260 to the bracket 270, and may include an acquirer 221, etc., for performing the most easily obtainable package among the packages to be obtained on the receiving platform 260. move.
  • the code scanning platform 230 is located at the end of the collecting platform 260 and is adjacent to the robot 220 .
  • the scanning platform 230 includes a table 231 for placing the most accessible packages moving from the collecting platform 260 .
  • the code scanner 240 may be a code scanning camera, and may include six. The six code scanning cameras are arranged around the code scanning platform 230, and are used to scan codes from six different directions to identify the most accessible packages placed on the code scanning platform 230. courier information.
  • the code scanning platform 230 may further include a push cylinder 232, which may further include a cylinder and a push rod, etc., and may be arranged on the side of the code scanning platform 230 close to the robot 220 for scanning the code on the code scanning platform 230.
  • the scanning platform 230 may also include a revolving door.
  • the revolving door constitutes the table 231 of the scanning platform 230 and is used to identify the most easily obtainable package after scanning the code on the scanning platform 230. to push.
  • the classification conveying line 250 may include two, and the two classification conveying lines 250 are disposed close to the code scanning platform 230 for conveying the most easily obtainable package after the identification and scanning code pushed over.
  • the control device communicates with the image collector 210, the robot 220, the code scanner 240, the push cylinder 232, the code scanning platform 230 and its revolving door, etc., and controls each component based on the above-mentioned express delivery method , so as to move the package to the corresponding classified conveying line.
  • the express package supply method in this application please refer to the description of the express package supply method in this application, which will not be repeated here.
  • the image data of the package to be acquired is collected by the image collector, and the most easily acquired package among the packages to be acquired is moved by the robot to the scanning platform, and scanned by multiple code scanners.
  • Code identification is the easiest to obtain the package, and the most easily obtained package is pushed to the corresponding classification conveying line through the code scanning platform, and the image collector, robot, code scanning platform and multiple scanning code are scanned by the control device according to the above-mentioned express delivery method.
  • the controller controls to move the packages to be acquired to the corresponding sorting conveyor line.
  • the device occupies a small area and is relatively cheap, which can effectively solve the problem of large and expensive express delivery equipment, and at the same time improve the intelligence of the package supply. A good alternative to manual or traditional private equipment.
  • a "computer-readable medium” can be any device that can contain, store, communicate, propagate, or transport the program for use by or in connection with an instruction execution system, apparatus, or apparatus.
  • computer readable media include the following: electrical connections with one or more wiring (electronic devices), portable computer disk cartridges (magnetic devices), random access memory (RAM), Read Only Memory (ROM), Erasable Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM).
  • the computer readable medium may even be paper or other suitable medium on which the program may be printed, as the paper or other medium may be optically scanned, for example, followed by editing, interpretation, or other suitable medium as necessary process to obtain the program electronically and then store it in computer memory.
  • various parts of the present invention may be implemented in hardware, software, firmware or a combination thereof.
  • various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, Programmable Gate Arrays (PGA), Field Programmable Gate Arrays (FPGA), etc.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with “first”, “second” may expressly or implicitly include at least one of that feature.
  • plurality means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise specified limit.
  • installed may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise specified limit.

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Abstract

一种快递供包***、方法、设备及存储介质，其中***包括：视觉触发器（110）、图像识别器（120）、运动规划器（130）和控制信号生成器（140），视觉触发器（110）触发图像采集器对待获取包裹的图像数据进行采集；图像识别器（120）对图像数据进行识别获得待获取包裹的包裹分布情况和最易获取包裹的信息；运动规划器（130）根据包裹分布情况和最易获取包裹的信息生成机器人路径规划结果，以便机器人根据机器人路径规划结果移动最易获取包裹，以进行供包；控制信号生成器（140）在图像数据识别过程中、机器人路径规划结果生成过程中调整获取器的状态。该***能够提高供包的智能程度。

Description

快递供包***、方法、设备及存储介质
相关申请的交叉引用
本公开要求于2020年12月08日提交的申请号为202011444635.2，名称为“快递供包***、方法、设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本发明涉及智能制造技术领域，尤其涉及一种快递供包***、方法、设备及存储介质。
背景技术
快递包裹被揽收后，需要根据收件地址进行分拣，以便整合出同一目的地的快递包裹，实现批量发出，该过程往往通过分拣***实现。快递包裹由揽收容器输入到分拣***的过程，称为“供包”，即向分拣***供应快递包裹，该过程体现为将快递包裹逐一放入分拣***的传送带，通过传送带将快递包裹传送至分拣***的目的地识别装置处，以进行目的地识别。
传统的“供包”通过人工手动操作，或者，利用力学原理通过多种传送带(或传送轴)结构组合而成的单件分离机进行批量“供包”，单件分离机可如图1所示。
但是，随着物流行业的迅速崛起，快递包裹的收发量呈爆发式增长，人工手动操作的“供包”方式已经浮现速度低下、成本高的问题。单件分离机“供包”方式虽然在效率方面能一定程度上优于人工手动操作，但是，基于分离机的批量“供包”，只是简单的将一批次的包裹输入分拣***，当包裹数量再次上升，容易导致包裹堆叠的问题，影响后续分拣。
公开内容
本发明旨在提出一种快递供包***，能够有效提高供包的智能程度。
本发明的第二个目的在于提出一种快递供包方法。
本发明的第三个目的在于提出一种计算机可读存储介质。
本发明的第四个目的在于提出一种快递供包设备。
为达到上述目的，本发明第一方面实施例提出一种快递供包***，包括：视觉触发器、图像识别器、运动规划器和控制信号生成器，其中，视觉触发器触发图像采集器对待获取包裹的图像数据进行采集；图像识别器对图像数据进行识别获得待获取包裹的包裹分布情况和最易获取包裹的信息；运动规划器根据包裹分布情况和最易获取包裹的信息生成机器人路径规划结果，以便机器人根据机器人路径规划结果移动最易获取包裹，以进行供包；控制信号生成器在图像数据识别过程中、机器人路径规划结果生成过程中调整获取器的状态。
根据本发明实施例的快递供包***，通过视觉触发器触发图像采集器对待获取包裹的图像数据进行采集，并通过图像识别器对图像数据进行识别获得待获取包裹的包裹分布情 况和最易获取包裹的信息，以及通过运动规划器根据包裹分布情况和最易获取包裹的信息生成机器人路径规划结果，以便机器人根据机器人路径规划结果移动最易获取包裹，并通过控制信号生成器在图像数据识别过程中、机器人路径规划结果生成过程中调整获取器的状态。该***能够有效提高供包的智能程度。
为达到上述目的，本发明第二方面实施例提出一种快递供包方法，包括以下步骤：对待获取包裹的图像数据进行采集，并对图像数据进行识别获得待获取包裹的包裹分布情况和最易获取包裹的信息，并在图像数据识别过程中调整机器人的获取器的状态；根据包裹分布情况和最易获取包裹的信息生成机器人路径规划结果，以便机器人根据机器人路径规划结果移动最易获取包裹，并在机器人路径规划结果生成过程中和机器人移动最易获取包裹过程中调整获取器的状态；检测获取器是否成功获取最易获取包裹；如果获取器成功获取最易获取包裹，则扫码识别最易获取包裹，并根据识别结果将最易获取包裹推送至相应分类输送线。
根据本发明实施例的快递供包方法，通过对待获取包裹的图像数据进行采集，并对图像数据进行识别得到待获取包裹的包裹分布情况和易获取包裹的信息，同时调整机器人的获取器的状态，而后根据包裹分布情况和最易获取包裹的信息生成机器人路径规划结果，以便机器人根据机器人路径规划结果移动最易获取包裹，并在机器人路径规划结果生成过程中和机器人移动最易获取包裹过程中调整获取器的状态，之后检测获取器是否成功获取最易获取包裹，如果成功获取最易获取包裹，则扫码识别该最易获取包裹，并根据识别结果将最易获取包裹推送至相应分类输送线，从而能够有效提高供包的智能程度。
为达到上述目的，本发明第三方面实施例提出一种计算机可读存储介质，其上存储有快递供包程序，该快递供包程序被快递供包***执行时实现上述的快递供包方法。
根据本发明实施例的计算机可读存储介质，通过执行上述的快递供包方法，能够有效提高供包的智能程度。
为达到上述目的，本发明第四方面实施例提出一种快递供包设备，包括图像采集器、机器人、扫码平台、对应扫码平台设置的多个扫码器、对应扫码平台设置的多个分类输送线、以及控制装置。其中，图像采集器位于待获取包裹上方，用于对待获取包裹的图像数据进行采集；待获取包裹、扫码平台位于机器人的操作可达范围内，机器人用于移动待获取包裹中的最易获取包裹至扫码平台；多个扫码器的视野范围包围扫码平台，扫码设备用于扫码识别最易获取包裹；扫码平台的台面为旋转门、并在一侧设置推送气缸，扫码平台用于将最易获取包裹推送至相应分类输送线；控制装置包括快递供包***，以根据快递供包方法实现供包。
根据本发明实施例的快递供包设备，通过图像采集器对待获取包裹的图像数据进行采集，并通过机器人移动待获取包裹中的最易获取包裹至扫码平台，以及通过多个扫码器扫码识别最易获取包裹，并通过扫码平台将最易获取包裹推送至相应分类输送线，以及通过控制装置按照快递供包方法对图像采集器、机器人、扫码平台以及多个扫码器进行控制，以将待获取包裹移动至相应分类输送线，该设备占地面积小且价格较为便宜，能够有效解 决快递供包设备占地面积大且昂贵的问题，同时可提高供包的智能程度。
本发明附加的方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
图1为相关技术中快递供包设备的结构示意图；
图2为根据本发明一个实施例的快递供包***的方框示意图；
图3a为根据本发明一个实施例的最易获取包裹的移动示意图；
图3b为根据本发明另一个实施例的最易获取包裹的移动示意图；
图4为根据本发明另一个实施例的快递供包***的方框示意图；
图5为根据本发明一个实施例的快递供包方法的流程示意图；
图6为根据本发明一个实施例的快递供包设备的结构示意图。
附图标记：
110：视觉触发器；120：图像识别器；130：运动规划器；140：控制信号生成器；150：执行规划器；160：数据传输器；210：图像采集器；220：机器人；221：获取器；230：扫码平台；231：扫码平台的台面；232：推送气缸；240：扫码器；250：分类输送线；260：揽收平台；270：支架。
具体实施方式
下面详细描述本发明的实施例，实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
在一个实施例中，提供了一种快递供包***，参考图2所示，该快递供包***可包括：视觉触发器110、图像识别器120、运动规划器130和控制信号生成器140。
其中，视觉触发器110触发图像采集器对待获取包裹的图像数据进行采集；图像识别器120对图像数据进行识别获得待获取包裹的包裹分布情况和最易获取包裹的信息；运动规划器130根据包裹分布情况和最易获取包裹的信息生成机器人路径规划结果，以便机器人220(图2中未具体示出)根据机器人路径规划结果移动最易获取包裹，以进行供包；控制信号生成器140在图像数据识别过程中、机器人路径规划结果生成过程中调整获取器221(图2中未具体示出)的状态。
需要说明的是，部分实施例中的包裹分布情况包括图像数据中各包裹的位置、和/或各包裹间的堆叠重合面积。
部分实施例中，最易获取包裹可根据包裹距获取器221的距离、包裹是否处于边缘、包裹周围的障碍数量而定(本实施例中的障碍可包括所判定包裹周围的其他包裹)。
部分实施例中的最易获取包裹的信息，包括最易获取包裹的尺寸、位置、姿态等，或者，最易获取包裹的信息包括尺寸、获取位置、获取姿态等。部分实施例中的获取位置、 获取姿态分别包括获取包裹时获取器221触碰包裹的位置点、以及触碰包裹的姿态。
可选地，在部分实施例中，获取器221可以为夹具、吸盘、吸盘组，或前述任意种类的组合。
在进行快递供包时，参考图4所示，视觉触发器110触发图像采集器210如3D智能相机对揽收滑道上处于静止状态的无序待获取包裹进行拍照获取图像数据，并通过数据传输器160发送给图像识别器120。
图像识别器120接收图像数据，并对图像数据进行识别，获取揽收滑道上的待获取包裹的包裹分布情况，并选择最易获取包裹，确定最易获取包裹的信息。
示例性地，对于待获取包裹的包裹分布情况的说明，可参考图3a，若当前揽收滑道上放置有包裹A和包裹B，图像识别器120通过对图像数据的识别，可得出包裹A位于包裹B的上部的分布识别结论。又一示例性地，若包裹A、包裹B、包裹C以任意排序方式相邻放置在同一平面，图像识别器120通过对图像数据的识别，可得出包裹A、包裹B、包裹C相邻放置的结论。或者，若图像数据中的包裹情况为前述实施例组合、以及若图像数据中的包裹情况为随意堆叠，则通过图像识别器120的识别，可以得出图像数据中各包裹放置在相应平面上后暴露在最上方的平面所形成的高度，以及各包裹间是否重叠、各包裹是否相邻、各包裹间的位置关系等。
部分可选实施例中，可通过建立待获取包裹的模型的方式进行待获取包裹分布情况的识别。
可选地，对于最易获取包裹确定的相关说明，可参见图3a。若待获取包裹分布情况如图3a所示，图像识别器120可根据图像数据分析出抓取包裹A的容易程度高于抓取包裹B的容易程度，进而确定包裹A为最易获取包裹。若待获取包裹在一平面内相邻放置、或在多个平面内相邻放置、或者在多个不相邻面内相邻放置，则可将距离获取器221最近、或者移动时周围障碍最少、或者处于边缘的包裹确定为最易获取包裹。
可选地，在确定最易获取包裹后，图像识别器120能够确定出最易获取包裹的信息以对其进行移动操作。
根据前述相关实施例的教导，本领域技术人员应该能够理解到的是，在部分实施例中，最易获取包裹包括最容易被获取器221获取的包裹。
部分实施中，最易获取包裹的信息包括最易获取包裹的尺寸、位置、姿态，可根据前述三者计算出获取该包裹时的获取位置点、获取姿态。示例性地，若最易获取包裹为其中的包裹A，则获取包裹A的体积、位置点X3，此外由于包裹水平放置，因此获取姿态为沿法线方向获取。此后，将待获取包裹的包裹分布情况和最易获取包裹的信息通过数据传输器160发送给运动规划器130。
较佳的，在图像数据识别的过程中，控制信号生成器140还调整获取器221的状态，控制信号生成器140生成控制信号，并通过数据传输器160发送控制信号调整获取器221的状态，以使得获取器221的状态更加贴近于获取最易获取包裹时的状态。由于，获取器221的状态调整为机械运动，其速度远远小于各处理器的处理速度，进而图像数据识别过程 中(即在获取操作实际发生前)调整获取器221的状态使其更接近实际获取时的状态，如此操作可提高整个设备的工作效率。
部分实施例中，调整获取器221的状态包括调整获取器221的驱动状态。举例而言，若获取器221为夹具，则调整获取器221的状态体现为调整夹具的张开角度；若获取器221为吸盘，则调整获取器221的状态体现为调整吸盘的吸取力度；若获取器221为吸盘组，则调整获取器221的状态体现为调整吸盘组开启的吸盘数量、和/或所开启的吸盘的吸取力度。
在接收到数据传输器160所传输的待获取包裹的分布情况、最易获取包裹的信息后，运动规划器130根据包裹分布情况和最易获取包裹的信息生成机器人路径规划结果，并通过数据传输器160发送给机器人220，机器人220根据接收到的路径规划结果获取最易获取包裹。示例性地，机器人220将最易获取包裹由揽收滑道移动至扫码平台230，以进行后续最易获取包裹的扫码识别。
较佳的，在机器人路径规划结果生成的过程中，控制信号生成器140还调整获取器221的状态，使获取器221的状态处于与最易获取包裹相匹配的状态。可以理解到的是，在机器人路径规划时，已经获取到最易获取包裹的信息，进而在部分实施例中可确定最易获取包裹的尺寸，因此可以将获取器221的状态由前述部分实施例中的“更接近实际获取时的状态”调整为“实际获取时的状态”。而在路径规划过程中进行前述调整，实际上是在机器人220进行实际移动前开始调整获取器221为实际获取状态，使得速度较慢的机械运动(相较于处理器的处理速度而言)提前进行，进而提高包裹的获取效率。
本发明提供的***，通过视觉触发器触发图像采集器对待获取包裹的图像数据进行采集，并通过图像识别器对图像数据进行识别获得待获取包裹的包裹分布情况和最易获取包裹的信息，以及通过运动规划器根据包裹分布情况和最易获取包裹的信息生成机器人路径规划结果，以便机器人根据机器人路径规划结果移动最易获取包裹，同时通过控制信号生成器在图像数据识别过程中、机器人路径规划结果生成过程中调整获取器的状态。依据本发明实施例提供的***可实现机器人的智能供包功能，相较于现有技术，可提高供包的智能程度。另外，本发明实施例提供的***中处理器分工合作，其某些过程中图像识别器与控制信号生成器同步工作、运动规划器与控制信号器同步工作，紧密配合，进而实现供包过程中提前进行较缓慢(相较于处理器的数据处理速度而言)的机械运动的功能，从供包效率角度提高供包智能程度。
部分实施例中，控制信号生成器140在图像数据识别过程中，使获取器221处于待调整状态。待调整状态可以体现为使获取器221处于开启状态；或者，在另一部分实施例中，待调整状态可以体现为使获取器221处于更为接近最终获取最易获取包裹时的状态。
在部分实施例中，运动规划器130所生成的机器人路径规划结果包括机器人220的获取路径规划结果、以及机器人的放置路径规划结果。
在一个可选实施例中，运动规划器130用于生成获取路径规划结果，具体用于根据包裹分布情况和最易获取包裹的体积确定路径预规划的获取位置点之前点和获取位置点之后 点，并根据最易获取包裹的获取位置点和获取姿态、获取位置点之前点和获取位置点之后点、以及当前机器人的起始位置生成获取路径规划结果。
部分可选实施例中，最易获取包裹的信息包括最易获取包裹的体积、获取位置点和获取姿态。获取位置点之前点和获取位置点之后点与包裹分布情况、最易获取包裹的体积有关，用于最易获取包裹的获取位置点附近的避障。可选地，当揽收滑道具有挡板时，上述两点还与挡板高度有关。
具体地，运动规划器130可先根据包裹分布情况和最易获取包裹的体积确定路径预规划的获取位置点之前点和获取位置点之后点。例如，可由图像识别器120预先建立并实时更新、与现实环境保持一致的场景模型，并将场景模型通过数据传输器160发送至运动规划器130，运动规划器130在接收到场景模型后，基于场景模型，根据包裹分布情况以及最易获取包裹的体积确定预规划的获取位置点之前点、获取位置点之后点。示例性地如图3a所示，若将包裹A作为最易获取包裹，X2为获取位置点之前点、X3为获取位置点、X4为获取位置点之后点。实际获取过程中，获取器221首先移动至获取位置点之前点、而后在获取位置点获取包裹A、携带包裹A上抬至X4点后向放置之处移动。
可以理解到的是，实际使用中最易获取包裹可能根据现有技术确定，示例性地可如图3b所示，若根据现有技术，将最易获取包裹确定为包裹A，则需要以包裹A、包裹C的高度以及包裹A的位置为依据设定获取位置点之后点X4，使X4足够高，避免包裹A碰撞到包裹C。
而后，运动规划器130根据最易获取包裹的获取位置点和获取姿态、获取位置点之前点和获取位置点之后点、以及当前机器人的起始位置生成获取路径规划结果。例如，参考图3a所示，运动规划器130根据最易获取包裹如包裹A的获取位置点如X3和获取姿态、获取位置点之前点如X2、获取位置点之后点如X4、以及当前机器人的起始位置如X1，进行机器人获取路径规划，生成机器人获取路径规划结果，并通过数据传输器160发送给机器人220(图3a中未示出)，由机器人220根据获取路径规划结果获取最易获取包裹如包裹A。
进一步地，可参考图3a-图3b中任一图，在生成获取路径规划结果时，运动规划器130可先检测场景模型中的机器人起始位置如X1至获取位置点如X3之间、以及机器人在两点间移动时，各姿态所占用空间的障碍情况，如果无障碍，则将获取位置点之前点如X2、获取位置点如X3、获取姿态、获取位置点之后点如X4发送至机器人220，使其根据这些信息自由规划运动。如果各点之间有障碍，则根据障碍情况如障碍物体积确定障碍绕行点、以及规定机器人绕行姿态(机器人绕行姿态根据障碍情况可选设定)，而后在机器人起始位置如X1至获取位置点之前点如X2、获取位置点之前点如X2至获取位置点如X3、获取位置点如X3至获取位置点之后点如X4之间的相应位置处，***障碍绕行点，而后完成获取路径规划，并将相关点及机器人绕行姿态(如有)发送给机器人220以使其进行移动，例如，若在起始位置与获取位置点之前点间存在障碍进而***了障碍绕行点，则控制机器人手臂先从机器人起始位置移动至障碍绕行点而后再移动至获取位置点之前点，接着移动至获取位置点，并在获取位置点控制获取器221夹紧最易获取包裹，并移动至获取位置点之后点， 以实现包裹的获取。在一个实施例中，控制信号生成器140在机器人220移动最易获取包裹至获取位置点之前点之前，根据最易获取包裹的体积调整获取器221的开启程度。示例性地，若获取器221为夹具，可参考图3a，在机器人220依据获取路径规划结果移动至获取位置点之前点如X2之前，控制信号生成器140根据最易获取包裹如待获取包裹A的体积调整夹具的开启程度，若最易获取包裹如包裹A的体积较大，则控制夹具张开较大的角度，反之，控制夹具张开较小的角度，以使其与最易获取包裹如包裹A的体积相匹配。如此，在机器人移动的同时调整获取器221的状态，可避免当机器人移动至获取位置点之前点时夹具还未张开的情况，能够有效提高设备的工作效率。
再次示例性地，若获取器221为吸盘(或吸盘组)，在机器人220依据获取路径规划结果移动至获取位置点之前点之前，控制信号生成器140根据最易获取包裹的体积调整吸盘的吸取力度(或吸盘组的吸盘开启数量)，若最易获取包裹的体积较大，则控制吸盘开启较大的吸取力度(或者将吸盘组的吸盘开启数量确定为较大值)，反之，控制吸盘开启较小的吸取力度(或者将吸盘组的吸盘开启数量确定为较小值)，以使获取器221更稳定地获取最易获取包裹。本实施例中，在机器人移动的同时调整获取器221的状态，可有效提高设备的工作效率。
在一个实施例中，运动规划器130用于生成放置路径规划结果，具体用于根据最易获取包裹的体积确定最易获取包裹的放置参考点和真实放置点，并根据放置参考点、真实放置点、以及获取位置点之后点生成放置路径规划结果。
具体地，在机器人220移动待获取包裹的过程中，运动规划器130还可基于场景模型，根据最易获取包裹的信息确定放置参考点，并根据放置参考点周围障碍情况、最易获取包裹的信息、包裹放置位置确定真实放置点即真实位置点，以及根据与获取路径规划相似的原理进行放置路径规划，并将放置路径规划结果通过数据传输器发送给机器人220以使其将包裹放置在真实位置点。
例如，参考图3b所示，运动规划器130基于场景模型，根据最易获取包裹如待获取包裹A的体积确定放置参考点如X5，并根据放置参考点如X5周围障碍情况、最易获取包裹如待获取包裹A的体积、放置平面的位置确定真实放置点即真实位置点如X6，其中放置参考点如X5的设置有助于放置过程的避障。而后，运动规划器130检测场景模型中的获取位置点之后点如X4至放置参考点X5之间、以及机器人在两点间移动时，各姿态所占用空间的障碍情况，如果无障碍，则将放置参考点如X5、真实位置点如X6发送至机器人220，使其根据相关点自由规划运动；如果有障碍，则根据障碍情况如障碍物体积确定障碍绕行点、以及规定机器人绕行姿态(机器人绕行姿态根据障碍情况可选设定)，而后在获取位置点之后点如X4至放置参考点如X5间***障碍绕行点，而后完成放置路径规划，并将相关点及机器人绕行姿态(如有)发送给机器人220以使其进行移动。在机器人220移动至获取位置点之后点如X4后，可根据放置路径规划结果进行移动，如控制机器人手臂先从获取位置点之后点如X4移动至障碍绕行点而后移动至放置参考点如X5，再移动至真实位置点如X6。
在一个实施例中，控制信号生成器140在机器人220移动最易获取包裹至真实放置点 之前，检测获取器221是否成功获取最易获取包裹；控制信号生成器140在机器人220移动最易获取包裹至真实放置点时，控制获取器221处于松弛状态，以便放置最易获取包裹。示例性地，在机器人220控制获取器221移动至真实放置点之前，控制信号生成器140还通过数据传输器160启动获取器221上的传感器来识别最易获取包裹如是否获取成功，如果获取成功，则机器人220继续移动，并在机器人220移动至真实放置点时，控制信号生成器140通过数据传输器160控制获取器221置于松弛状态后控制其停止，以实现最易获取包裹的放置，否则，控制机器人220停止移动并返回起始位置，以减少无效放置过程。或者，若机器人220未成功获取包裹，可控制机器人220返回获取位置点以重新获取包裹。
在可选实施例中，机器人220将最易获取包裹放置在供包***所需要之处。在较佳实施例中，机器人220将最易获取包裹放置在扫码平台230上，以为后续分拣提供参考，具体控制信号生成器140触发扫码器240扫码识别最易获取包裹，并根据识别结果将最易获取包裹推送至相应分类输送线250。
示例性地，控制信号生成器140触发扫码器240如扫码相机对最易获取包裹如包裹A上的快递信息进行扫码识别，并根据扫码识别结果，通过触发扫码平台230一侧的推送气缸232启动以将最易获取包裹如包裹A推送至其中一个分类输送线250或者通过触发扫码平台230的旋转门启动以将最易获取包裹如包裹A推送至另一个分类输送线250(旋转门启动后，扫码平台230的台面向下倾斜一定角度，可使包裹A滑落至相应的分类输送线)。而后，控制信号生成器140控制扫码器240如扫码相机数据清零，为下一循环做准备。
较佳实施例中，在最易获取包裹如包裹A放置完成后，视觉触发器110再次触发图像采集器210如3D智能相机拍照获取揽收滑道上的图像数据，以为下一次包裹获取做准备，同时运动规划器130基于场景模型确定机器人220的躲避点，并基于机器人220的躲避点生成躲避路径规划结果，以使机器人220移动至该躲避点，以防止在包裹扫码识别过程中产生遮挡。
本领域技术人员可以理解的是，在上述实施例中，视觉触发器110、图像采集器210、图像识别器120、运动规划器130、控制信号生成器140以及机器人220之间，均通过同一数据传输器160通信，在实际应用中，数据传输器160可包括多个，具体可根据实际需求选择设置，这里不做限制，只要能够实现数据的快速有效传输即可。
在一个实施例中，参考图4所示，快递供包***还可包括执行规划器150，该执行规划器150可通过数据传输器160与视觉触发器110、图像识别器120、运动规划器130和控制信号生成器140进行通信，以对各个器件进行宏观调用，确定各个器件的执行顺序，进而加快整个设备的执行速度，例如将前述实施例中各个器件所执行的步骤划分为运动步骤(指需要进行实际移动的步骤)与非运动步骤(指处理器进行数据运算的步骤)，由于机器人220、获取器221等进行的机械运动相较于其他非运动步骤的计算速度而言较慢，因此执行规划器150可根据划分属性进行分类规划，而后依据各个器件的执行进度调用其它器件，以加快工作节拍。也就是说，前述实施例中各个器件可由执行规划器150统筹管理，以从***全局角度进行任务合理分配，从而加快整个设备的工作效率。
综上，根据本发明实施例的快递供包***，通过视觉触发器对待获取包裹的图像数据进行采集，并通过图像识别器对图像数据进行识别获得待获取包裹的包裹分布情况和最易获取包裹的信息，以及通过运动规划器根据包裹分布情况和最易获取包裹的信息生成机器人路径规划结果，以便机器人根据机器人路径规划结果获取最易获取包裹，并通过控制信号生成器在图像数据识别过程中、机器人路径规划结果生成过程中调整获取器的状态，从而能够提高供包的智能程度。
第二方面，本发明实施例提供了一种快递供包方法，参考图5所示，包括以下步骤：
步骤S101，对待获取包裹的图像数据进行采集。
步骤S102，对图像数据进行识别获得待获取包裹的包裹分布情况和最易获取包裹的信息，并在图像数据识别过程中调整机器人的获取器的状态。
步骤S103，根据包裹分布情况和最易获取包裹的信息生成机器人路径规划结果，以便机器人根据机器人路径规划结果移动最易获取包裹，并在机器人路径规划结果生成过程中和机器人移动最易获取包裹过程中调整获取器的状态。
在一个实施例中，机器人路径规划结果包括获取路径规划结果，根据包裹分布情况和最易获取包裹的信息生成机器人路径规划结果，包括：根据包裹分布情况和最易获取包裹的体积确定路径预规划的获取位置点之前点和获取位置点之后点，并根据最易获取包裹的获取位置点和获取姿态、获取位置点之前点和获取位置点之后点、以及当前机器人的起始位置生成获取路径规划结果，其中，最易获取包裹的信息包括最易获取包裹的体积、获取位置点和获取姿态。
在一个实施例中，根据包裹分布情况和最易获取包裹的信息生成机器人路径规划结果，还包括：检测机器人起始位置至获取位置点之间、以及机器人在机器人起始位置至获取位置点之间移动时各姿态所占用空间的障碍情况；如果无障碍，则根据获取位置点之前点、获取位置点、获取姿态和获取位置点之后点生成获取路径规划结果；如果有障碍，则根据障碍情况确定障碍绕行点以及机器人绕行姿态，并根据障碍绕行点、机器人绕行姿态、获取位置点之前点、获取位置点之后点、获取位置点、以及当前机器人的起始位置生成获取路径规划结果。
可以理解的是，在某些情况下，若当前障碍的分布情况下没有可设置的绕行点，能够使得获取器221成功获取当前最易获取包裹，则由图像识别器120重新确定最易获取包裹，而后由运动规划器130进行规划，生成获取路径规划结果。
在一个实施例中，机器人路径规划结果包括放置路径规划结果，根据包裹分布情况和最易获取包裹的信息生成机器人路径规划结果，包括：根据最易获取包裹的体积确定最易获取包裹的放置参考点和真实放置点，并根据放置参考点、真实放置点、以及获取位置点之后点生成放置路径规划结果。
在一个实施例中，根据包裹分布情况和最易获取包裹的信息生成机器人路径规划结果，还包括：检测获取位置点之后点至真实放置点之间、以及机器人在获取位置点之后点至真 实放置点之间移动时各姿态所占用空间的障碍情况；如果无障碍，则根据获取位置点之后点、放置参考点和真实放置点生成放置路径规划结果；如果有障碍，则根据障碍情况确定障碍绕行点以及机器人绕行姿态，并根据障碍绕行点、机器人绕行姿态、获取位置点之后点、放置参考点以及真实放置点生成放置路径规划结果。在一个实施例中，在机器人路径规划结果生成过程中和机器人移动最易获取包裹过程中调整获取器的状态，包括：在机器人移动最易获取包裹至获取位置点之前点之前，根据最易获取包裹的体积调整获取器的开启程度；在机器人移动最易获取包裹至真实放置点时，停止获取器移动并使其处于松弛状态，以便放置最易获取包裹。
步骤S104，检测获取器是否成功获取最易获取包裹。
步骤S105，如果获取器成功获取最易获取包裹，则扫码识别最易获取包裹，并根据识别结果将最易获取包裹推送至相应分类输送线。
在一个实施例中，在扫码识别最易获取包裹之前，还包括：确定机器人的躲避点；根据躲避点生成躲避路径规划结果。
需要说明的是，本申请中关于快递供包方法的描述，请参考本申请中关于快递供包***的相关描述，具体这里不再赘述。
根据本发明实施例的快递供包方法，通过对待获取包裹的图像数据进行采集，并对图像数据进行识别得到待获取包裹的包裹分布情况和易获取包裹的信息，同时调整机器人的获取器的状态，而后根据包裹分布情况和最易获取包裹的信息生成机器人路径规划结果，以便机器人根据机器人路径规划结果移动最易获取包裹，并在机器人路径规划结果生成过程中和机器人移动最易获取包裹过程中调整获取器的状态，之后检测获取器是否成功获取最易获取包裹，如果成功获取最易获取包裹，则扫码识别该最易获取包裹，并根据识别结果将最易获取包裹推送至相应分类输送线，从而能够有效解决快递供包设备占地面积大且昂贵的问题，同时可提高供包的智能程度。
第三方面，本发明实施例提供一种计算机可读存储介质，其上存储有快递供包程序，该快递供包程序被第一方面提供的供包***执行时实现第二方面的快递供包方法。
根据本发明实施例的计算机可读存储介质，通过执行上述的快递供包方法，能够提高供包的智能程度。
第四方面，本发明实施例提供一种快递供包设备，参考图6所示，包括：
图像采集器210、机器人220、扫码平台230、对应扫码平台230设置的多个扫码器240、对应扫码平台230设置的多个分类输送线250、以及控制装置(图6中未具体示出)。其中，图像采集器210位于待获取包裹上方，用于对待获取包裹的图像数据进行采集；待获取包裹、扫码平台230位于机器人220的操作可达范围内，机器人220用于移动待获取包裹中的最易获取包裹至扫码平台230；多个扫码器240的视野范围包围扫码平台230，扫码设备240用于扫码识别最易获取包裹；扫码平台230的台面231为旋转门、并在一侧设置推送气 缸232，扫码平台230用于将最易获取包裹推送至相应分类输送线250；控制包括快递供包***，以使设备中其他部分根据快递供包方法实现供包。
根据本发明实施例的快递供包设备，通过图像采集器对待获取包裹的图像数据进行采集，并通过机器人移动待获取包裹中的最易获取包裹，可以实现供包，能够有效解决快递供包设备占地面积大且昂贵的问题，同时可提高供包的智能程度。
可选地，控制装置包括执行规划器、视觉触发器、图像识别器、运动规划器、控制信号生成器以及数据传输器。
在一个实施例中，参考图6所示，本发明提供的设备还包括：揽收平台260，揽收平台260用于放置待获取包裹。
具体地，揽收平台260作为一种揽收容器用于揽收快递供包即待获取包裹，揽收平台260可以为揽收滑道。图像采集器210可以为3D智能相机等，设置在位于揽收平台260一侧的支架270上且位于揽收平台260的上方，用于采集揽收平台260上待获取包裹的图像数据。机器人220可以为六轴工业机器人等，位于揽收平台260的与支架270相对的一侧，可包括获取器221等，用于对揽收平台260上的待获取包裹中的最易获取包裹进行移动。扫码平台230位于揽收平台260的末端且与机器人220相邻，扫码平台230包括台面231，用于放置从揽收平台260上移动的最易获取包裹。扫码器240可以为扫码相机，可包括六个，六个扫码相机围绕扫码平台230设置，用于从六个不同的方向扫码识别放置在扫码平台230上的最易获取包裹的快递信息。扫码平台230还可包括推送气缸232，该推送气缸232可进一步包括气缸和推杆等，可设置在扫码平台230的靠近机器人220的一侧，用于对扫码平台230上的扫码识别后的最易获取包裹进行推送，扫码平台230也可以包括旋转门，该旋转门构成扫码平台230的台面231，用于对扫码平台230上的扫码识别后的最易获取包裹进行推送。分类输送线250可包括两个，两个分类输送线250靠近扫码平台230设置，用于对推送过来的识别扫码后的最易获取包裹进行输送。
控制装置作为整个设备的核心，与图像采集器210、机器人220、扫码器240、推送气缸232和扫码平台230及其旋转门等进行通信，并基于上述快递供包方法对各个部件进行控制，以将包裹移动至相应分类输送线，具体可参考本申请中关于快递供包方法的描述，这里不再赘述。
根据本发明实施例的快递供包设备，通过图像采集器对待获取包裹的图像数据进行采集，并通过机器人移动待获取包裹中的最易获取包裹至扫码平台，以及通过多个扫码器扫码识别最易获取包裹，并通过扫码平台将最易获取包裹推送至相应分类输送线，以及通过控制装置按照上述的快递供包方法对图像采集器、机器人、扫码平台以及多个扫码器进行控制，以将待获取包裹移动至相应分类输送线。该设备占地面积小且价格较为便宜，能够有效解决快递供包设备占地面积大且昂贵的问题，同时可提高供包的智能程度，并且设备占用面积小、造价低、效率高，能够很好的替代人工或传统专机设备。
需要说明的是，在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介 质中，以供指令执行***、装置或设备(如基于计算机的***、包括处理器的***或其他可以从指令执行***、装置或设备取指令并执行指令的***)使用，或结合这些指令执行***、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行***、装置或设备或结合这些指令执行***、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本发明的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行***执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (16)

  1. 一种快递供包***，其特征在于，包括：视觉触发器、图像识别器、运动规划器和控制信号生成器，其中，
    所述视觉触发器触发图像采集器对待获取包裹的图像数据进行采集；
    所述图像识别器对所述图像数据进行识别获得所述待获取包裹的包裹分布情况和最易获取包裹的信息；
    所述运动规划器根据所述包裹分布情况和所述最易获取包裹的信息生成机器人路径规划结果，以便机器人根据所述机器人路径规划结果移动所述最易获取包裹，以进行供包；
    所述控制信号生成器在所述图像数据识别过程中、所述机器人路径规划结果生成过程中调整获取器的状态。
  2. 根据权利要求1所述的***，其特征在于，所述控制信号生成器在所述图像数据识别过程中，使所述获取器处于待调整状态。
  3. 根据权利要求1所述的***，其特征在于，所述运动规划器用于生成获取路径规划结果，其中，
    所述运动规划器根据所述包裹分布情况和所述最易获取包裹的体积确定路径预规划的获取位置点之前点和获取位置点之后点，并根据所述最易获取包裹的获取位置点和获取姿态、所述获取位置点之前点和获取位置点之后点、以及当前机器人的起始位置生成所述获取路径规划结果，其中，所述最易获取包裹的信息包括所述最易获取包裹的体积、获取位置点和获取姿态。
  4. 根据权利要求3所述的***，其特征在于，所述控制信号生成器在所述机器人移动所述最易获取包裹至所述获取位置点之前点之前，根据所述最易获取包裹的体积调整所述获取器的开启程度。
  5. 根据权利要求3所述的***，其特征在于，所述运动规划器用于生成放置路径规划结果，其中，
    所述运动规划器根据所述最易获取包裹的体积确定所述最易获取包裹的放置参考点和真实放置点，并根据所述放置参考点、所述真实放置点、以及所述获取位置点之后点生成所述放置路径规划结果。
  6. 根据权利要求5所述的***，其特征在于，所述控制信号生成器在所述机器人移动所述最易获取包裹至所述真实放置点之前，检测所述获取器是否成功获取所述最易获取包裹；
    所述控制信号生成器在所述机器人移动所述最易获取包裹至所述真实放置点时，控制所述获取器处于松弛状态，以便放置所述最易获取包裹。
  7. 根据权利要求1所述的***，其特征在于，所述控制信号生成器触发扫码器扫码识别所述最易获取包裹，并根据识别结果将所述最易获取包裹推送至相应分类输送线。
  8. 一种快递供包方法，其特征在于，包括以下步骤：
    对待获取包裹的图像数据进行采集；
    对所述图像数据进行识别获得待获取包裹的包裹分布情况和最易获取包裹的信息，并在所述图像数据识别过程中调整机器人的获取器的状态；
    根据所述包裹分布情况和所述最易获取包裹的信息生成机器人路径规划结果，以便所述机器人根据所述机器人路径规划结果移动所述最易获取包裹，并在所述机器人路径规划结果生成过程中和所述机器人移动所述最易获取包裹过程中调整所述获取器的状态；
    检测所述获取器是否成功获取所述最易获取包裹；
    如果所述获取器成功获取所述最易获取包裹，则扫码识别所述最易获取包裹，并根据识别结果将所述最易获取包裹推送至相应分类输送线。
  9. 根据权利要求8所述的方法，其特征在于，所述机器人路径规划结果包括获取路径规划结果，所述根据所述包裹分布情况和所述最易获取包裹的信息生成机器人路径规划结果，包括：
    根据所述包裹分布情况和所述最易获取包裹的体积确定路径预规划的获取位置点之前点和获取位置点之后点，并根据所述最易获取包裹的获取位置点和获取姿态、所述获取位置点之前点和获取位置点之后点、以及当前机器人的起始位置生成所述获取路径规划结果，其中，所述最易获取包裹的信息包括所述最易获取包裹的体积、获取位置点和获取姿态。
  10. 根据权利要求9所述的方法，其特征在于，所述根据所述包裹分布情况和所述最易获取包裹的信息生成机器人路径规划结果，还包括：
    检测机器人起始位置至所述获取位置点之间、以及所述机器人在机器人起始位置至所述获取位置点之间移动时各姿态所占用空间的障碍情况；
    如果无障碍，则根据所述获取位置点之前点、所述获取位置点、所述获取姿态和所述获取位置点之后点生成所述获取路径规划结果；
    如果有障碍，则根据所述障碍情况确定障碍绕行点以及机器人绕行姿态，并根据所述障碍绕行点、所述机器人绕行姿态、所述获取位置点之前点、所述获取位置点之后点、所述获取位置点、以及当前机器人的起始位置生成所述获取路径规划结果。
  11. 根据权利要求9所述的方法，其特征在于，所述机器人路径规划结果包括放置路径规划结果，所述根据所述包裹分布情况和所述最易获取包裹的信息生成机器人路径规划结果，包括：
    根据所述最易获取包裹的体积确定所述最易获取包裹的放置参考点和真实放置点，并根据所述放置参考点、所述真实放置点、以及所述获取位置点之后点生成所述放置路径规划结果。
  12. 根据权利要求11所述的方法，其特征在于，所述根据所述包裹分布情况和所述最易获取包裹的信息生成机器人路径规划结果，还包括：
    检测所述获取位置点之后点至所述真实放置点之间、以及所述机器人在所述获取位置点之后点至所述真实放置点之间移动时各姿态所占用空间的障碍情况；
    如果无障碍，则根据所述获取位置点之后点、所述放置参考点和所述真实放置点生成所述放置路径规划结果；
    如果有障碍，则根据所述障碍情况确定障碍绕行点以及机器人绕行姿态，并根据所述障碍绕行点、所述机器人绕行姿态、所述获取位置点之后点、所述放置参考点以及所述真实放置点生成所述放置路径规划结果。
  13. 根据权利要求12所述的方法，其特征在于，所述在所述机器人路径规划结果生成过程中和所述机器人移动所述最易获取包裹过程中调整所述获取器的状态，包括：
    在所述机器人移动所述最易获取包裹至所述获取位置点之前点之前，根据所述最易获取包裹的体积调整所述获取器的开启程度；
    在所述机器人移动所述最易获取包裹至所述真实放置点时，停止所述获取器移动并使其处于松弛状态，以便放置所述最易获取包裹。
  14. 根据权利要求8所述的方法，其特征在于，在扫码识别所述最易获取包裹之前，还包括：
    确定所述机器人的躲避点；
    根据所述躲避点生成躲避路径规划结果。
  15. 一种计算机可读存储介质，其特征在于，其上存储有快递供包程序，该快递供包程序被处理器执行时实现如权利要求8-14中任一项所述的方法。
  16. 一种快递供包设备，其特征在于，包括：图像采集器、机器人、扫码平台、对应所述扫码平台设置的多个扫码器、对应所述扫码平台设置的多个分类输送线、以及控制装置，其中，
    所述图像采集器位于待获取包裹上方，用于对所述待获取包裹的图像数据进行采集；
    所述待获取包裹、所述扫码平台位于所述机器人的操作可达范围内，所述机器人用于移动所述待获取包裹中的最易获取包裹至所述扫码平台；
    所述多个扫码器的视野范围包围所述扫码平台，所述扫码设备用于扫码识别所述最易获取包裹；
    所述扫码平台的台面为旋转门、并在一侧设置推送气缸，所述扫码平台用于将所述最易获取包裹推送至相应分类输送线；
    所述控制装置包括快递供包***，以根据快递供包方法实现供包。
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