CN111994593A - A kind of logistics equipment and logistics processing method - Google Patents

Abstract

Translated fromChinese

本发明提供一种物流设备以及物流处理方法，物流设备包括：控制器和执行机构；执行机构包括集成于主体上的运动机构、重力传感器、导航传感器、RGB‑D相机和抓取机构；RGB‑D相机设置在主体的前端；抓取机构设置于主体上方；在本方案中，不需要人工对搬运机器人移动的特定轨道和码垛机器人固定的特定位置进行调节，能够根据接收到的执行机构的位置、未码垛区域的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则，直接确定执行机构的移动轨迹和码垛位置，从而提高物流处理的效率。

The invention provides a logistics equipment and a logistics processing method. The logistics equipment includes: a controller and an executing mechanism; the executing mechanism includes a motion mechanism, a gravity sensor, a navigation sensor, an RGB-D camera and a grasping mechanism integrated on a main body; The D camera is arranged at the front end of the main body; the grabbing mechanism is arranged above the main body; in this solution, there is no need to manually adjust the specific track moved by the handling robot and the specific position fixed by the palletizing robot. The position, the position of the unpalletized area, the position of the to-be-palletized area, the space parameters of the to-be-palletized area, the item parameters, the distance parameter, the weight parameter and the preset placement rules, directly determine the movement trajectory and the palletizing position of the actuator , thereby improving the efficiency of logistics processing.

Description

Translated fromChinese

一种物流设备以及物流处理方法A kind of logistics equipment and logistics processing method

技术领域technical field

本发明涉及数据处理技术领域，尤其涉及一种物流设备以及物流处理方法。The invention relates to the technical field of data processing, in particular to a logistics equipment and a logistics processing method.

背景技术Background technique

随着物流行业的快速发展，需要对物品进行物流处理。With the rapid development of the logistics industry, it is necessary to carry out logistics processing on items.

目前，对物品进行物流处理时，常通过搬运机器人和码垛机器人对物流中需要处理的物品进行搬运和码垛。搬运机器人将分拣后的物品沿着特定的轨道搬运至指定区域，在到达指定区域后将物品放至指定货架中；位于特定位置上的码垛机器人在确定指定货架中存在物品时，对指定货架中的物品进行码垛。但是，由于搬运机器人只能沿着特定的轨道搬运需要处理的物品，且码垛机器只能固定在特定位置上对需要处理的物品码垛，因此需要人工根据需要处理的物品的位置调节搬运机器人移动的特定轨道，以及码垛机器人固定的特定位置，从而导致物流处理的效率低。At present, when handling items in logistics, handling robots and palletizing robots are often used to handle and stack the items that need to be handled in the logistics. The handling robot transports the sorted items to the designated area along a specific track, and puts the items in the designated shelf after reaching the designated area; when the palletizing robot at a specific position determines that there is an item in the designated shelf, it will The items in the shelves are palletized. However, since the handling robot can only move the items to be processed along a specific track, and the palletizing machine can only be fixed at a specific position to stack the items to be handled, it is necessary to manually adjust the handling robot according to the position of the items to be handled. The specific track that moves, and the specific position that the palletizing robot is fixed, leads to inefficient logistics processing.

发明内容SUMMARY OF THE INVENTION

有鉴于此，本发明实施例提供一种物流设备以及物流处理方法，以解决现有技术中物流处理的效率低的问题。In view of this, embodiments of the present invention provide a logistics device and a logistics processing method to solve the problem of low efficiency of logistics processing in the prior art.

为实现上述目的，本发明实施例提供如下技术方案：To achieve the above purpose, the embodiments of the present invention provide the following technical solutions:

本发明实施例第一方面公开了一种物流设备，所述物流设备包括：控制器和执行机构；A first aspect of the embodiments of the present invention discloses a logistics device, the logistics device comprising: a controller and an executing mechanism;

所述执行机构包括集成于主体上的运动机构、重力传感器、导航传感器、RGB-D相机和抓取机构；The actuator includes a motion mechanism, a gravity sensor, a navigation sensor, an RGB-D camera and a grasping mechanism integrated on the main body;

所述RGB-D相机设置在主体的前端，用于获取待处理物品的物品参数，码垛区域的空间参数，以及所述待处理物品与所述抓取机构之间的距离参数，并发送给所述控制器；The RGB-D camera is arranged at the front end of the main body, and is used to obtain the item parameters of the items to be processed, the spatial parameters of the stacking area, and the distance parameters between the items to be processed and the grabbing mechanism, and send them to the the controller;

所述抓取机构设置于所述主体上方，用于抓取所述待处理物品；The grabbing mechanism is arranged above the main body and is used for grabbing the item to be processed;

所述重力传感器，用于在所述抓取机构抓取所述待处理物品后，获取所述待处理物品的重量参数，并发送给所述控制器；The gravity sensor is used to acquire the weight parameter of the item to be processed after the grabbing mechanism grabs the item to be processed, and send it to the controller;

所述控制器，用于根据所述执行机构的位置、未码垛区域的位置、所述待码垛区域的位置、所述待码垛区域的空间参数、所述物品参数、所述距离参数、所述重量参数和预设摆放规则进行仿真计算，确定所述执行机构的移动轨迹、所述抓取机构的操作参数和所述待处理物品在所述待码垛区域的放置位置；控制所述运动机构基于所述导航传感器沿所述移动轨迹移动，控制所述抓取机构基于所述操作参数将所述待处理物品抓取并放置于所述待码垛区域的放置位置。The controller is used for the position of the actuator, the position of the un-palletized area, the position of the to-be-palletized area, the space parameter of the to-be-palletized area, the item parameter, the distance parameter , the weight parameters and preset placement rules are simulated and calculated to determine the movement trajectory of the actuator, the operating parameters of the grabbing mechanism and the placement position of the to-be-processed item in the to-be-stacked area; control The motion mechanism moves along the movement track based on the navigation sensor, and controls the grasping mechanism to grasp and place the to-be-processed item at the placement position of the to-be-palletized area based on the operation parameter.

可选的，所述执行机构的移动轨迹包括第一移动轨迹和第二移动轨迹，所述根据所述执行机构的位置、未码垛区域的位置、所述待码垛区域的位置、所述待码垛区域的空间参数、所述物品参数、所述距离参数、所述重量参数和预设摆放规则进行仿真计算，确定所述执行机构的移动轨迹、所述抓取机构的操作参数和所述待处理物品在所述待码垛区域的放置位置的控制器，具体用于：Optionally, the movement trajectory of the actuator includes a first movement trajectory and a second movement trajectory, and the movement trajectory according to the position of the actuator, the position of the un-palletized area, the position of the to-be-palletized area, the The space parameters of the area to be palletized, the item parameters, the distance parameters, the weight parameters and the preset placement rules are simulated and calculated to determine the movement trajectory of the actuator, the operation parameters of the grabbing mechanism and The controller for the placement position of the items to be processed in the area to be palletized is specifically used for:

基于所述距离参数、未码垛区域的位置和待码垛区域的位置进行仿真计算，得到所述抓取机构的操作参数；Perform a simulation calculation based on the distance parameter, the position of the un-palletized area and the position of the to-be-palletized area to obtain the operation parameters of the grasping mechanism;

基于所述执行机构的位置和所述待码垛区域的位置进行仿真计算，得到所述第一移动轨迹，所述第一移动轨迹用于指示所述执行机构从未码垛区域移动至所述待码垛区域的路径；Simulation calculation is performed based on the position of the actuator and the position of the area to be palletized, and the first movement trajectory is obtained, and the first movement trajectory is used to instruct the actuator to move from the unpalletized area to the The path of the area to be palletized;

基于所述执行机构的位置、所述待码垛区域的空间参数、所述物品参数、所述待码垛区域的空间参数、所述物品参数、所述重量参数和预设摆放规则进行仿真计算，得到所述第二移动轨迹和所述待处理物品在所述待码垛区域的放置位置。Simulation is performed based on the position of the actuator, the space parameters of the area to be palletized, the item parameters, the space parameters of the area to be palletized, the item parameters, the weight parameters and preset placement rules Calculation is performed to obtain the second movement trajectory and the placement position of the to-be-processed item in the to-be-stacked area.

可选的，所述运行机构包括伺服电机，所述控制所述运动机构基于所述导航传感器沿所述移动轨迹移动的控制器，具体用于：Optionally, the running mechanism includes a servo motor, and the controller that controls the movement mechanism to move along the movement track based on the navigation sensor is specifically used for:

在仿真计算得到所述第一移动轨迹后，控制所述伺服电机基于所述导航传感器沿所述第一移动轨迹移动，使所述执行机构当前的位置处于所述待码垛区域；After the first movement trajectory is obtained by simulation calculation, controlling the servo motor to move along the first movement trajectory based on the navigation sensor, so that the current position of the actuator is in the area to be palletized;

在仿真计算得到所述第二移动轨迹后，控制所述伺服电机基于所述导航传感器沿所述第二移动轨迹移动，使所述执行机构当前的位置与所述待处理物品在所述待码垛区域的放置位置之间的距离小于预设的距离阈值。After the second movement trajectory is obtained through simulation calculation, the servo motor is controlled to move along the second movement trajectory based on the navigation sensor, so that the current position of the actuator and the to-be-processed item are in the to-be-coded position. The distance between the placement positions of the stack area is less than the preset distance threshold.

可选的，所述抓取机构包括机械手臂和吸盘，所述机械手臂的抓取端与所述吸盘相连；所述控制所述抓取机构基于所述操作参数将所述待处理物品抓取并放置于所述待码垛区域的放置位置的控制器，具体用于：Optionally, the grasping mechanism includes a robotic arm and a suction cup, and the grasping end of the robotic arm is connected to the suction cup; the control of the grasping mechanism to grasp the item to be processed based on the operating parameters The controller that is placed in the placement position of the to-be-palletized area is specifically used for:

基于所述抓取机构的操作参数，控制所述机械手臂移动至所述待处理物品正上方，使所述机械手臂与所述待处理物品的距离在第一预设距离内；Based on the operating parameters of the grasping mechanism, controlling the robotic arm to move directly above the item to be processed, so that the distance between the robotic arm and the item to be processed is within a first preset distance;

利用与所述机械手臂连接的吸盘吸取所述待处理物品；Using the suction cup connected with the mechanical arm to suck the object to be processed;

在所述执行机构当前的位置与所述待处理物品在所述待码垛区域的放置位置之间的距离小于预设的距离阈值时，控制与所述机械手臂移动至所述待处理物品在所述待码垛区域的放置位置的正上方，使所述机械手臂与所述待处理物品的放置位置的距离在第二预设距离内；When the distance between the current position of the actuator and the placement position of the item to be processed in the area to be palletized is less than a preset distance threshold, the control and the robotic arm move to the position where the item to be processed is located Just above the placement position of the area to be palletized, so that the distance between the robotic arm and the placement position of the item to be processed is within a second preset distance;

将所述吸盘吸取的所述待处理物品放置于所述待码垛区域的放置位置。The to-be-processed items sucked by the suction cups are placed at the placement position of the to-be-palletized area.

可选的，所述RGB-D相机还用于获取所述执行机构行进方向的障碍物信息。Optionally, the RGB-D camera is further configured to acquire obstacle information in the travel direction of the actuator.

可选的，所述控制器还用于：Optionally, the controller is also used for:

在控制所述运动机构基于所述导航传感器沿所述移动轨迹移动的过程中，确定是否接收到所述RGB-D相机发送的障碍物信息，所述障碍物信息包括所述执行机构与障碍物的距离；In the process of controlling the motion mechanism to move along the movement track based on the navigation sensor, determine whether the obstacle information sent by the RGB-D camera is received, where the obstacle information includes the actuator and the obstacle the distance;

若接收到，判断所述执行机构与障碍物的距离是否大于等于预设的安全距离；If received, determine whether the distance between the actuator and the obstacle is greater than or equal to a preset safety distance;

若大于等于，控制所述执行机构停止移动，根据所述障碍物信息、所述执行机构的位置、所述待码垛区域的位置、所述待码垛区域的空间参数、所述物品参数、所述距离参数、所述重量参数和预设摆放规则进行仿真计算，确定所述执行机构新的移动轨迹。If it is greater than or equal to, control the actuator to stop moving, according to the obstacle information, the position of the actuator, the position of the area to be palletized, the space parameters of the area to be palletized, the item parameters, The distance parameter, the weight parameter and the preset placement rule are simulated and calculated to determine a new movement trajectory of the actuator.

可选的，所述控制器还用于：Optionally, the controller is also used for:

在确定所述待码垛区域的空间参数小于预设码垛区域的空间参数时，控制所述执行机构停止码垛，并移动至预设的待机区域。When it is determined that the space parameter of the area to be palletized is smaller than the space parameter of the preset palletizing area, the actuator is controlled to stop the palletizing and move to the preset standby area.

可选的，所述物流设备，还包括：遥控手柄设备；Optionally, the logistics equipment further includes: a remote control handle device;

所述遥控手柄设备的输入端与所述控制器相连；The input end of the remote control handle device is connected with the controller;

所述遥控手柄设备的输出端与所述执行机构连接；The output end of the remote control handle device is connected with the actuator;

所述遥控手柄设备，用于控制所述执行机构移动，并控制抓取机构抓取待处理物品。The remote control handle device is used to control the movement of the actuator and control the grasping mechanism to grasp the items to be processed.

本发明实施例第二方面公开了一种物流处理方法，所述方法包括：A second aspect of the embodiment of the present invention discloses a logistics processing method, the method comprising:

接收所述RGB-D相机获取的待处理物品的物品参数，码垛区域的空间参数，以及所述待处理物品与所述抓取机构之间的距离参数；Receive the item parameters of the items to be processed obtained by the RGB-D camera, the spatial parameters of the stacking area, and the distance parameters between the items to be processed and the grabbing mechanism;

接收所述重力传感器在所述抓取机构抓取所述待处理物品后，获取的所述待处理物品的重量参数；receiving the weight parameter of the item to be processed obtained by the gravity sensor after the grabbing mechanism grabs the item to be processed;

根据所述执行机构的位置、未码垛区域的位置、所述待码垛区域的位置、所述待码垛区域的空间参数、所述物品参数、所述距离参数、所述重量参数和预设摆放规则进行仿真计算，确定所述执行机构的移动轨迹、所述抓取机构的操作参数和所述待处理物品在所述待码垛区域的放置位置；According to the position of the actuator, the position of the unpalletized area, the position of the to-be-palletized area, the space parameters of the to-be-palletized area, the item parameter, the distance parameter, the weight parameter and the preset Set a placement rule to perform simulation calculation, and determine the movement trajectory of the actuator, the operating parameters of the grabbing mechanism, and the placement position of the item to be processed in the area to be palletized;

控制所述运动机构基于所述导航传感器沿所述移动轨迹移动，控制所述抓取机构基于所述操作参数将所述待处理物品抓取并放置于所述待码垛区域的放置位置。The movement mechanism is controlled to move along the movement track based on the navigation sensor, and the grasping mechanism is controlled to grasp and place the to-be-processed item at the placement position of the to-be-palletized area based on the operation parameter.

可选的，还包括：在确定所述待码垛区域的空间参数小于预设码垛区域的空间参数时，控制所述执行机构停止码垛，并移动至预设的待机区域。Optionally, the method further includes: when it is determined that the space parameter of the area to be palletized is smaller than the space parameter of the preset palletizing area, controlling the actuator to stop the palletizing and move to a preset standby area.

基于上述本发明实施例提供的一种物流设备以及物流处理方法，物流设备包括：控制器和执行机构；执行机构包括集成于主体上的运动机构、重力传感器、导航传感器、RGB-D相机和抓取机构；RGB-D相机设置在主体的前端，用于获取待处理物品的物品参数，码垛区域的空间参数，以及待处理物品与抓取机构之间的距离参数，并发送给控制器；抓取机构设置于主体上方，用于抓取待处理物品；重力传感器，用于在抓取机构抓取待处理物品后，获取待处理物品的重量参数，并发送给控制器；控制器，用于根据执行机构的位置、未码垛区域的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则进行仿真计算，确定执行机构的移动轨迹、抓取机构的操作参数和待处理物品在待码垛区域的放置位置；控制运动机构基于导航传感器沿移动轨迹移动，控制抓取机构基于操作参数将待处理物品抓取并放置于待码垛区域的放置位置。在本发明实施例中，不需要人工对搬运机器人移动的特定轨道和码垛机器人固定的特定位置进行调节，能够根据接收到的执行机构的位置、未码垛区域的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则，直接确定执行机构的移动轨迹和码垛位置，从而提高物流处理的效率。Based on the logistics equipment and logistics processing method provided by the above embodiments of the present invention, the logistics equipment includes: a controller and an actuator; the actuator includes a motion mechanism, a gravity sensor, a navigation sensor, an RGB-D camera, and a grasping mechanism integrated on the main body. Picking mechanism; the RGB-D camera is set at the front end of the main body to obtain the item parameters of the items to be processed, the spatial parameters of the stacking area, and the distance parameters between the items to be processed and the grabbing mechanism, and send them to the controller; The grabbing mechanism is arranged above the main body and is used to grab the item to be processed; the gravity sensor is used to obtain the weight parameter of the item to be processed after the grabbing mechanism grabs the item to be processed, and send it to the controller; the controller uses It is used to perform simulation calculations according to the position of the actuator, the position of the unpalletized area, the position of the area to be palletized, the space parameters of the area to be palletized, item parameters, distance parameters, weight parameters and preset placement rules to determine the actuator. The movement trajectory, the operating parameters of the grasping mechanism, and the placement position of the items to be processed in the area to be palletized; the motion mechanism is controlled to move along the movement trajectory based on the navigation sensor, and the grasping mechanism is controlled to grasp and place the items to be processed based on the operating parameters. The placement position of the area to be palletized. In the embodiment of the present invention, there is no need to manually adjust the specific track moved by the handling robot and the specific position fixed by the palletizing robot. The position, space parameters of the area to be palletized, item parameters, distance parameters, weight parameters and preset placement rules directly determine the movement trajectory and stacking position of the actuator, thereby improving the efficiency of logistics processing.

附图说明Description of drawings

为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without creative work.

图1为本发明实施例示出的物流设备的结构示意图；Fig. 1 is the structural schematic diagram of the logistics equipment shown in the embodiment of the present invention;

图2为本发明实施例示出的执行机构的架构示意图；FIG. 2 is a schematic structural diagram of an executing mechanism according to an embodiment of the present invention;

图3为本发明实施例示出的执行机构的具体架构示意图；FIG. 3 is a schematic diagram of a specific architecture of an executing mechanism according to an embodiment of the present invention;

图4为本发明实施例示出的一种物流处理方法的流程示意图；4 is a schematic flowchart of a logistics processing method shown in an embodiment of the present invention;

图5为本发明实施例示出的另一种物流处理方法的流程示意图；5 is a schematic flowchart of another logistics processing method shown in an embodiment of the present invention;

图6为本发明实施例示出的障碍物检测过程的流程示意图。FIG. 6 is a schematic flowchart of an obstacle detection process according to an embodiment of 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，所描述的实施例仅仅是本发明一部分实施例，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 will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

在本申请中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。In this application, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device comprising a list of elements includes not only those elements, but also no Other elements expressly listed, or which are also inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

在本发明实施例中，不需要人工对搬运机器人移动的特定轨道和码垛机器人固定的特定位置进行调节，能够根据接收到的执行机构的位置、未码垛区域的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则，直接确定执行机构的移动轨迹和码垛位置，从而提高物流处理的效率。In the embodiment of the present invention, there is no need to manually adjust the specific track moved by the handling robot and the specific position fixed by the palletizing robot. The position, space parameters of the area to be palletized, item parameters, distance parameters, weight parameters and preset placement rules directly determine the movement trajectory and stacking position of the actuator, thereby improving the efficiency of logistics processing.

参见图1，为本发明实施例示出的一种物流设备的结构示意图，该物流设备10包括控制器20和执行机构30。Referring to FIG. 1 , which is a schematic structural diagram of a logistics device according to an embodiment of the present invention, the logistics device 10 includes acontroller 20 and anactuator 30 .

该控制器20与执行机构30通信连接。Thecontroller 20 is connected in communication with theactuator 30 .

需要说明的是，控制器包括设置于控制台的上位机，以及设置于执行机构的主体内部的下位机。It should be noted that the controller includes an upper computer installed in the console, and a lower computer installed inside the main body of the actuator.

基于上述图1所述的物流设备，本发明实施例在具体实现中，还公开了图1示出的执行机构30的具体结构，如图2所示。Based on the above-mentioned logistics equipment in FIG. 1 , in the specific implementation of the embodiment of the present invention, the specific structure of theactuator 30 shown in FIG. 1 is also disclosed, as shown in FIG. 2 .

执行机构30包括集成于执行机构主体301上的运动机构302、重力传感器303、导航传感器304、三通道彩色图像(Red GreenBlue-DepthMap，RGB-D)相机305和抓取机构306。Theactuator 30 includes a motion mechanism 302 integrated on the actuator body 301 , a gravity sensor 303 , a navigation sensor 304 , a three-channel color image (Red GreenBlue-DepthMap, RGB-D) camera 305 and a grasping mechanism 306 .

RGB-D相机305设置在主体301的前端，用于获取待处理物品的物品参数，码垛区域的空间参数，以及待处理物品与抓取机构306之间的距离参数，并发送给控制器20。The RGB-D camera 305 is arranged at the front end of the main body 301, and is used to obtain the item parameters of the items to be processed, the spatial parameters of the stacking area, and the distance parameters between the items to be processed and the grabbing mechanism 306, and send them to thecontroller 20. .

需要说明的是，主体301的前端是根据执行机构30运动时前进的方向确定。It should be noted that the front end of the main body 301 is determined according to the forward direction of theactuator 30 when it moves.

具体的，当执行机构30向前移动时，主体301的前端为主体301的前侧；当执行机构30向后移动时，主体301的前端为主体301的后侧。Specifically, when theactuator 30 moves forward, the front end of the main body 301 is the front side of the main body 301 ; when theactuator 30 moves backward, the front end of the main body 301 is the rear side of the main body 301 .

需要说明的是，待处理物品的物品参数包括待处理物品的体积。It should be noted that the item parameter of the item to be processed includes the volume of the item to be processed.

在具体实现中，在执行机构30的位置处于未码垛区域的位置时，RGB-D相机305实时拍摄正前方待处理物品及其周围的照片，并通过RGB-D相机305内置的算法计算待处理物品的体积，以及待处理物品与抓取机构306之间的距离参数。在执行机构30的位置处于待码垛区域时，RGB-D相机305实时拍摄待码垛区域的照片，并通过RGB-D相机305内置的算法计算待码垛区域的空间参数。将待处理物品的体积，待处理物品与抓取机构306之间的距离参数，及待码垛区域的空间参数发送给控制器20。In a specific implementation, when the position of theactuator 30 is in the position of the unpalletized area, the RGB-D camera 305 takes real-time photos of the item to be processed and its surroundings in front of it, and calculates the to-be-processed item through the built-in algorithm of the RGB-D camera 305 in real time. The volume of the item to be processed, and the distance parameter between the item to be processed and the gripping mechanism 306 . When the position of theactuator 30 is in the area to be palletized, the RGB-D camera 305 takes pictures of the area to be palletized in real time, and calculates the spatial parameters of the area to be palletized through the built-in algorithm of the RGB-D camera 305 . The volume of the item to be processed, the distance parameter between the item to be processed and the grabbing mechanism 306 , and the space parameter of the area to be palletized are sent to thecontroller 20 .

其中，待处理物品及其周围的照片包括待处理物品对应的照片，待处理物品与抓取机构306的照片等。The photos of the item to be processed and its surroundings include photos corresponding to the item to be processed, photos of the item to be processed and the grabbing mechanism 306, and the like.

抓取机构306设置于主体301上方，用于抓取待处理物品。The grabbing mechanism 306 is disposed above the main body 301 for grabbing the items to be processed.

在具体实现中，抓取机构306的固定端设置在主体上方面板处，该抓取机构306的抓取端用于抓取待处理物品。In a specific implementation, the fixed end of the grabbing mechanism 306 is disposed at the upper panel of the main body, and the grabbing end of the grabbing mechanism 306 is used to grab the item to be processed.

需要说明的是，抓取机构306的固定端可在主体上方面板上360度转动。It should be noted that the fixed end of the grabbing mechanism 306 can be rotated 360 degrees on the upper panel of the main body.

重力传感器303，用于在抓取机构306抓取待处理物品后，获取待处理物品的重量参数，并发送给控制器20。The gravity sensor 303 is used to acquire the weight parameter of the item to be processed after the grabbing mechanism 306 grabs the item to be processed, and send it to thecontroller 20 .

在具体实现中，重力传感器303设置在主体301侧边，其重力传感器303的测量端设置在抓取机构306的抓取端中，用于在抓取机构306抓取待处理物品后，测量待处理物品的重量参数，并发送给控制器20。In a specific implementation, the gravity sensor 303 is arranged on the side of the main body 301, and the measuring end of the gravity sensor 303 is arranged in the grasping end of the grasping mechanism 306, which is used to measure the to-be-processed item after the grasping mechanism 306 grasps the to-be-processed item. The weight parameter of the item is processed and sent to thecontroller 20 .

可选的，若重力传感器303未检测到待处理物品的重量参数，说明抓取机构306未抓取到待处理物品，此时控制器20控制执行机构30返回未码垛区域，并控制抓取机构306重复抓取操作。Optionally, if the gravity sensor 303 does not detect the weight parameter of the item to be processed, it means that the grabbing mechanism 306 has not grabbed the item to be processed. At this time, thecontroller 20 controls theactuator 30 to return to the unpalletized area and controls the grabbing. Mechanism 306 repeats the grabbing operation.

导航传感器304设置在主体301上，运动机构302设置在主体301下方。The navigation sensor 304 is arranged on the main body 301 , and the motion mechanism 302 is arranged under the main body 301 .

控制器20，用于根据执行机构30的位置、未码垛区域的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则进行仿真计算，确定执行机构301的移动轨迹、抓取机构306的操作参数和待处理物品在待码垛区域的放置位置；控制运动机构302基于导航传感器沿移动轨迹移动，控制抓取机构306基于操作参数将待处理物品抓取并放置于待码垛区域的放置位置。Thecontroller 20 is used to carry out the operation according to the position of theactuator 30, the position of the un-palletized area, the position of the area to be palletized, the space parameters of the area to be palletized, the item parameters, the distance parameters, the weight parameters and the preset placement rules The simulation calculation determines the movement trajectory of the actuator 301, the operation parameters of the grasping mechanism 306 and the placement position of the items to be processed in the area to be palletized; the motion mechanism 302 is controlled to move along the movement trajectory based on the navigation sensor, and the grasping mechanism 306 is controlled based on the operation The parameter grabs the item to be processed and places it in the placement position of the area to be palletized.

在具体实现中，控制器20接收RGB-D相机305发送的待处理物品的体积以及待处理物品与抓取机构306之间的距离参数，且接收到重力传感器303发送的待处理物品的重量参数。并基于执行机构30的位置、未码垛区域的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则利用仿真算法进行仿真计算，确定执行机构301的移动轨迹、抓取机构306的操作参数和待处理物品在待码垛区域的放置位置。在当前执行机构30的位置处于未码垛区域时，控制抓取机构306基于操作参数将待处理物品抓取；在抓取机构306抓取待处理物品后，控制运动机构302基于导航传感器沿移动轨迹移动，并将该待处理物品放置于待码垛区域的放置位置。In a specific implementation, thecontroller 20 receives the volume of the item to be processed and the distance parameter between the item to be processed and the grabbing mechanism 306 sent by the RGB-D camera 305 , and receives the weight parameter of the item to be processed sent by the gravity sensor 303 . And based on the position of theactuator 30, the position of the unpalletized area, the position of the area to be palletized, the space parameters of the area to be palletized, the item parameters, the distance parameters, the weight parameters and the preset placement rules, the simulation algorithm is used for simulation calculation. , to determine the movement trajectory of the actuator 301, the operation parameters of the grabbing mechanism 306, and the placement position of the item to be processed in the area to be palletized. When the current position of theactuator 30 is in the non-palletizing area, the grabbing mechanism 306 is controlled to grab the item to be processed based on the operation parameters; after the grabbing mechanism 306 grabs the item to be processed, the motion mechanism 302 is controlled to move along the navigation sensor based on the The track moves, and the item to be processed is placed in the placement position of the area to be palletized.

其中，未码垛区域的位置是指未码垛待处理物品的坐标和范围，待码垛区域的位置是指码垛待处理物品的坐标和范围。The position of the un-palletized area refers to the coordinates and range of the un-palletized items to be processed, and the location of the un-palletized area refers to the coordinates and range of the palletized items to be processed.

未码垛区域的位置是技术人员根据当前要待处理物品的位置进行设置的。待码垛区域的位置是技术人员根据实际情况进行设置的。The position of the unpalletized area is set by the technician according to the current position of the item to be processed. The position of the area to be palletized is set by the technicians according to the actual situation.

执行机构30的位置是根据导航传感器304实时检测的。The position of theactuator 30 is detected in real time from the navigation sensor 304 .

需要说明的是，预设摆放规则可以是按照物品重量放置或物品体积放置。预设摆放规则可以是技术人员根据实际情况进行设置的，也可以是技术人员根据经验进行设置的，比如：待码垛区域的高度1.2米以下优先放置较大重量大于20KG的待处理物品。It should be noted that the preset placement rule may be placement according to the weight of the item or placement of the item by volume. The preset placement rules can be set by technicians according to the actual situation, or set by technicians based on experience. For example, the height of the area to be palletized is less than 1.2 meters, and the items to be processed with a larger weight greater than 20KG are preferentially placed.

移动轨迹包括第一移动轨迹和第二移动轨迹。The movement trajectory includes a first movement trajectory and a second movement trajectory.

在本发明实施例中，移动轨迹除了上述示出的第一移动轨迹和第二移动轨迹外，还示出了第三移动轨迹。In the embodiment of the present invention, in addition to the first and second movement tracks shown above, the movement track also shows a third movement track.

第三移动轨迹是指执行机构从预设的待机区域移动至未码垛区域的位置的路径，或是，从待码垛区域动至未码垛区域的位置的路径。The third movement track refers to the path of the actuator moving from the preset standby area to the position of the non-palletizing area, or the path of moving from the to-be-palletized area to the position of the non-palletizing area.

可选的，在物流设备启动，即执行机构要搬运第一个待处理物品时，控制器向执行机构30发送检验指令，以校验执行机构中的运动机构302、重力传感器303、导航传感器304、RGB-D相机305和抓取机构306是否能够正常工作，当运动机构302、重力传感器303、导航传感器304、RGB-D相机305和抓取机构306中任一个或多个不能正常工作时，执行机构停止运行，并通过无线网络向控制器20发送对应的故障信号，以便用户更换与故障信号相应的设备或启动其他的保护措施。当运动机构302、重力传感器303、导航传感器304、RGB-D相机305和抓取机构306均能正常工作时，控制运动机构302基于导航传感器304沿第三移动轨迹移动，使执行机构当前的位置处于未待码垛区域。Optionally, when the logistics equipment is started, that is, when the actuator is to carry the first item to be processed, the controller sends a verification instruction to theactuator 30 to verify the motion mechanism 302, the gravity sensor 303, and the navigation sensor 304 in the actuator. , whether the RGB-D camera 305 and the grasping mechanism 306 can work normally, when any one or more of the motion mechanism 302, the gravity sensor 303, the navigation sensor 304, the RGB-D camera 305 and the grasping mechanism 306 cannot work normally, The actuator stops running, and sends a corresponding fault signal to thecontroller 20 through the wireless network, so that the user can replace the equipment corresponding to the fault signal or initiate other protective measures. When the motion mechanism 302 , the gravity sensor 303 , the navigation sensor 304 , the RGB-D camera 305 and the grasping mechanism 306 can all work normally, the motion mechanism 302 is controlled to move along the third movement track based on the navigation sensor 304 to make the current position of the actuator in an area not to be palletized.

可选的，在控制执行机构要返回未码垛区域，即执行机构不是搬运第一个待处理物品时，控制运动机构302基于导航传感器304沿第三移动轨迹移动，使执行机构当前的位置返回未待码垛区域。Optionally, when the control actuator is to return to the unpalletized area, that is, when the actuator is not handling the first item to be processed, the motion mechanism 302 is controlled to move along the third movement track based on the navigation sensor 304, so that the current position of the actuator returns to Areas not to be palletized.

需要说明的是，第三移动轨迹是根据当前执行机构的位置和未码垛区域利用仿真算法进行仿真计算得到的。It should be noted that the third movement trajectory is obtained by simulation calculation using a simulation algorithm according to the current position of the actuator and the non-palletizing area.

可选的，物流设备还进一步设置了遥控手柄设备。Optionally, the logistics device is further provided with a remote control handle device.

遥控手柄设备的输入端与控制器20相连，遥控手柄设备的输出端与执行机构连接。The input end of the remote control handle device is connected with thecontroller 20, and the output end of the remote control handle device is connected with the actuator.

遥控手柄设备，用于控制执行机构移动。Remote control handle device used to control the movement of the actuator.

在具体实现中，遥控手柄设备根据仿真结果控制执行机构30移动，以及控制抓取机构306抓取待处理物品。In a specific implementation, the remote control handle device controls theactuator 30 to move according to the simulation result, and controls the grab mechanism 306 to grab the item to be processed.

在本发明实施例中，不需要人工对搬运机器人移动的特定轨道和码垛机器人固定的特定位置进行调节，能够根据接收到的执行机构的位置、未码垛区域的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则，直接确定执行机构的移动轨迹和码垛位置，从而提高物流处理的效率。In the embodiment of the present invention, there is no need to manually adjust the specific track moved by the handling robot and the specific position fixed by the palletizing robot. The position, space parameters of the area to be palletized, item parameters, distance parameters, weight parameters and preset placement rules directly determine the movement trajectory and stacking position of the actuator, thereby improving the efficiency of logistics processing.

基于上述图1示出的执行机构，本发明实施例在具体实现中，还公开了图1示出的运动机构302、导航传感器304和抓取机构306的具体结构，如图3所示。Based on the above-mentioned actuator shown in FIG. 1 , in the specific implementation of the embodiment of the present invention, the specific structures of the motion mechanism 302 , the navigation sensor 304 and the grasping mechanism 306 shown in FIG. 1 are also disclosed, as shown in FIG. 3 .

运行机构302包括伺服电机(图中未示出)，该伺服电机设置在主体301内部。The running mechanism 302 includes a servo motor (not shown in the figure), which is provided inside the main body 301 .

可选的，运行机构302还包括与该伺服电机连接的车轮3021。Optionally, the running mechanism 302 further includes a wheel 3021 connected to the servo motor.

抓取机构306包括机械手臂3061和吸盘3062，该机械手臂3061的固定端固定在执行机构主体301的上方，机械手臂3061的抓取端与吸盘3062连接。The grasping mechanism 306 includes a robotic arm 3061 and a suction cup 3062 , the fixed end of the robotic arm 3061 is fixed above the actuator body 301 , and the grasping end of the robotic arm 3061 is connected with the suction cup 3062 .

可选的，该抓取机构306还包括托盘，设置在执行机构主体301内部。在吸盘3062吸取待处理物品时，控制该托盘伸出，以拖住待处理物品底部。Optionally, the grabbing mechanism 306 further includes a tray, which is arranged inside the actuator body 301 . When the suction cup 3062 sucks the items to be processed, the tray is controlled to extend to hold the bottom of the items to be processed.

导航传感器304内置陀螺仪，用于确定执行机构30的行走方向。The navigation sensor 304 has a built-in gyroscope for determining the walking direction of theactuator 30 .

可选的，RGB-D相机305还用于获取执行机构30行进方向的障碍物信息。Optionally, the RGB-D camera 305 is also used to acquire obstacle information in the travel direction of theactuator 30 .

在具体实现中，在执行机构30移动的过程中，利用RGB-D相机305实时拍摄执行机构30行进方向的障碍物图像，并通过RGB-D相机305内置的算法计算障碍物信息，再将障碍物信息发送给控制器20。In the specific implementation, during the movement of theactuator 30, the RGB-D camera 305 is used to capture the obstacle image in the travel direction of theactuator 30 in real time, and the obstacle information is calculated by the built-in algorithm of the RGB-D camera 305, and then the obstacle The object information is sent to thecontroller 20 .

需要说明的是，障碍物信息包括障碍物的体积信息，以及障碍物与执行机构之间的距离等。It should be noted that the obstacle information includes the volume information of the obstacle, the distance between the obstacle and the actuator, and the like.

基于图3示出的执行机构，根据执行机构30的位置、未码垛区域的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则进行仿真计算，确定执行机构30的移动轨迹、抓取机构306的操作参数和待处理物品在待码垛区域的放置位置的控制器20，具体用于：基于距离参数和未码垛区域的位置进行仿真计算，得到抓取机构306的操作参数；基于执行机构30的位置和待码垛区域的位置进行仿真计算，得到第一移动轨迹；基于执行机构30的位置、待码垛区域的空间参数、物品参数、重量参数和预设摆放规则进行仿真计算，得到第二移动轨迹和待处理物品在待码垛区域的放置位置。Based on the actuator shown in FIG. 3 , according to the position of theactuator 30 , the position of the un-palletized area, the position of the area to be palletized, the space parameters of the area to be palletized, the item parameters, the distance parameter, the weight parameter and the preset pendulum Thecontroller 20 is used to simulate and calculate the placement rules to determine the movement trajectory of theactuator 30, the operating parameters of the grasping mechanism 306 and the placement position of the items to be processed in the area to be palletized. Perform simulation calculation based on the position of theactuator 30 and the position of the area to be palletized to obtain the operation parameters of the grasping mechanism 306; perform simulation calculation based on the position of theactuator 30 and the position of the area to be palletized to obtain the first movement trajectory; The space parameters, item parameters, weight parameters and preset placement rules are simulated and calculated to obtain the second movement trajectory and the placement position of the items to be processed in the area to be palletized.

在具体实现中，在当前执行机构30的位置处于未码垛区域时，利用仿真算法对距离参数和未码垛区域的位置进行仿真计算，确定抓取机构306的第一操作参数；利用仿真算法对距离参数和码垛区域的位置进行仿真计算，确定抓取机构306的第二操作参数。在抓取机构抓取到待处理物品后，利用仿真算法对执行机构30的位置和待码垛区域的位置进行仿真计算，得到未码垛区域的位置至待码垛区域的路径。在执行机构30移动至待码垛区域时，首先，基于待码垛区域的空间参数、物品参数、重量参数和预设摆放规则利用仿真算法进行仿真计算，得到待处理物品在待码垛区域的放置位置；然后，基于待处理物品在待码垛区域的放置位置，及当前执行机构的位置利用仿真算法进行仿真计算，得到第二移动轨迹。In a specific implementation, when the current position of theactuator 30 is in the un-palletized area, a simulation algorithm is used to simulate the distance parameter and the position of the un-palletized area to determine the first operating parameter of the grasping mechanism 306; using the simulation algorithm The distance parameter and the position of the palletizing area are simulated and calculated to determine the second operation parameter of the grasping mechanism 306 . After the grasping mechanism grabs the item to be processed, a simulation algorithm is used to simulate the position of theactuator 30 and the position of the area to be palletized, and the path from the position of the unpalletized area to the area to be palletized is obtained. When theactuator 30 moves to the area to be palletized, first, based on the space parameters, item parameters, weight parameters and preset placement rules of the area to be palletized, a simulation algorithm is used to perform simulation calculation, and it is obtained that the items to be processed are located in the area to be palletized. Then, based on the placement position of the item to be processed in the area to be palletized and the position of the current actuator, a simulation algorithm is used to perform a simulation calculation to obtain a second movement trajectory.

需要说明的是，抓取机构306的第一操作参数是指抓取机构在抓取待处理物品前，抓取机构需要移动的方向和距离；抓取机构306的第二操作参数是指抓取机构在放置待处理物品前，抓取机构需要移动的方向和距离。It should be noted that the first operating parameter of the grabbing mechanism 306 refers to the direction and distance that the grabbing mechanism needs to move before grabbing the item to be processed; the second operating parameter of the grabbing mechanism 306 refers to grabbing The direction and distance that the grasping mechanism needs to move before placing the item to be processed.

第一移动轨迹用于指示执行机构30从未码垛区域移动至待码垛区域的路径。The first movement track is used to indicate the path of theactuator 30 moving from the unpalletized area to the to-be-palletized area.

第二移动轨迹用于指示执行机构30从待码垛区域移动至能够码垛待处理物品的位置所对应的路径。The second movement track is used to indicate the path corresponding to the movement of the actuator 30 from the area to be palletized to the position where the objects to be processed can be palletized.

基于图3示出的执行机构，控制运动机构302基于导航传感器沿移动轨迹移动的控制器20，具体用于：在仿真计算得到第一移动轨迹后，控制伺服电机基于导航传感器304沿第一移动轨迹移动，使执行机构30当前的位置处于待码垛区域；在仿真计算得到第二移动轨迹后，控制伺服电机3062基于导航传感器304沿第二移动轨迹移动，使执行机构30当前的位置与待处理物品在待码垛区域的放置位置之间的距离小于预设的距离阈值。Based on the actuator shown in FIG. 3 , thecontroller 20 that controls the motion mechanism 302 to move along the movement track based on the navigation sensor is specifically used for: after the simulation calculation obtains the first movement track, control the servo motor to move along the first movement track based on the navigation sensor 304 The trajectory moves, so that the current position of theactuator 30 is in the area to be palletized; after the second movement trajectory is obtained through the simulation calculation, the servo motor 3062 is controlled to move along the second movement trajectory based on the navigation sensor 304, so that the current position of theactuator 30 is the same as the to-be-stacked area. The distance between the placement positions of the processed items in the area to be palletized is less than a preset distance threshold.

在具体实现中，在抓取机构306抓取待处理物品，且通过仿真计算得到第一移动轨迹后，将第一移动轨迹代入导航传感器304，并向伺服电机发送控制指令，以便于伺服电机按照控制指令带动与伺服电机连接的执行机构车轮3021，并基于导航传感器304沿第一移动轨迹移动，使得执行机构运动至待码垛区域。In a specific implementation, after the grabbing mechanism 306 grabs the item to be processed and obtains the first movement trajectory through simulation calculation, the first movement trajectory is substituted into the navigation sensor 304, and a control command is sent to the servo motor, so that the servo motor can follow the The control command drives the actuator wheel 3021 connected with the servo motor, and moves along the first movement track based on the navigation sensor 304, so that the actuator moves to the area to be palletized.

在执行机构运动至待码垛区域，且通过仿真计算得到第二移动轨迹后，将第二移动轨迹代入导航传感器304，并向伺服电机发送控制指令，以便于伺服电机按照控制指令带动与伺服电机连接的执行机构车轮3021。并基于导航传感器304沿第二移动轨迹移动，使得执行机构30运动至能够码垛待处理物品的位置。此时能够码垛待处理物品的位置是指执行机构30当前的位置与待处理物品在待码垛区域的放置位置之间的距离小于预设的距离阈值。After the actuator moves to the area to be palletized, and the second movement trajectory is obtained through simulation calculation, the second movement trajectory is substituted into the navigation sensor 304, and a control command is sent to the servo motor, so that the servo motor can drive and the servo motor according to the control command. Connected actuator wheels 3021. And based on the navigation sensor 304 moving along the second movement track, theactuator 30 is moved to a position where the objects to be processed can be stacked. At this time, the position where the items to be processed can be stacked means that the distance between the current position of theactuator 30 and the placement position of the items to be processed in the area to be stacked is less than a preset distance threshold.

需要说明的是，预设的距离阈值是指技术人员根据实际情况进行设置的，比如可以设置为1.25米。It should be noted that the preset distance threshold is set by the technician according to the actual situation, for example, it can be set to 1.25 meters.

基于图3示出的执行机构，控制抓取机构306基于操作参数将待处理物品抓取并放置于待码垛区域的放置位置的控制器20，具体用于：基于抓取机构306的操作参数，控制机械手臂3061移动至待处理物品正上方，使机械手臂3061与待处理物品的距离在第一预设距离内；利用与机械手臂3061连接的吸盘3062吸取待处理物品；在执行机构当30前的位置与待处理物品在待码垛区域的放置位置之间的距离小于预设的距离阈值时，控制与机械手臂3061移动至待处理物品在待码垛区域的放置位置的正上方，使机械手臂3061与待处理物品的放置位置的距离在第二预设距离内；将吸盘3062吸取的待处理物品放置于待码垛区域的放置位置。Based on the actuator shown in FIG. 3 , thecontroller 20 that controls the grabbing mechanism 306 to grab and place the items to be processed at the placement position in the area to be palletized based on the operation parameters is specifically used for: based on the operation parameters of the grabbing mechanism 306 , control the robotic arm 3061 to move directly above the item to be processed, so that the distance between the robotic arm 3061 and the item to be processed is within the first preset distance; use the suction cup 3062 connected to the robotic arm 3061 to suck the item to be processed; when the actuator is 30 When the distance between the previous position and the placement position of the item to be processed in the area to be palletized is less than the preset distance threshold, the control and robotic arm 3061 moves to just above the placement position of the item to be processed in the area to be palletized, so that the The distance between the robotic arm 3061 and the placement position of the item to be processed is within the second preset distance; the item to be processed sucked by the suction cup 3062 is placed at the placement position in the area to be palletized.

在具体实现中，利用抓取机构306的第一操作参数，控制机械手臂3061移动，使得机械手臂3061在待处理物品正上方，且机械手臂3061与待处理物品的距离在第一预设距离内，此时利用与机械手臂3061连接的吸盘3062吸取待处理物品。在执行机构30当前的位置与待处理物品在待码垛区域的放置位置之间的距离小于预设的距离阈值时，利用抓取机构306的第二操作参数，控制机械手臂3061移动，使得机械手臂3061在待处理物品在待码垛区域的放置位置正上方，且机械手臂3061与待处理物品在待码垛区域的放置位置的距离在第二预设距离内。此时将吸盘3062吸取的待处理物品放置于待码垛区域的放置位置。In a specific implementation, the first operating parameter of the grasping mechanism 306 is used to control the movement of the robotic arm 3061, so that the robotic arm 3061 is directly above the item to be processed, and the distance between the robotic arm 3061 and the item to be processed is within the first preset distance , at this time, the suction cup 3062 connected with the robot arm 3061 is used to suck the object to be processed. When the distance between the current position of theactuator 30 and the placement position of the items to be processed in the area to be palletized is smaller than the preset distance threshold, the second operation parameter of the grasping mechanism 306 is used to control the movement of the robotic arm 3061, so that the mechanical The arm 3061 is directly above the placement position of the item to be processed in the area to be palletized, and the distance between the robotic arm 3061 and the placement position of the item to be processed in the area to be palletized is within a second preset distance. At this time, the items to be processed sucked by the suction cup 3062 are placed at the placement position of the area to be palletized.

需要说明的是，第一预设距离和第二预设距离可以相同，也可以不同。第一预设距离和第二预设距离均是技术人员根据多次实验进行设置的，比如第一预设距离设置为20厘米，且第二预设距离也设置为20厘米。It should be noted that the first preset distance and the second preset distance may be the same or different. The first preset distance and the second preset distance are both set by technicians according to multiple experiments. For example, the first preset distance is set to 20 cm, and the second preset distance is also set to 20 cm.

可选的，继续参见图图3，执行机构还可以进一步设置指示灯307和电源接口308和电源(图中未示出)。Optionally, continuing to refer to FIG. 3 , the actuator may further be provided with an indicator light 307 , a power interface 308 and a power supply (not shown in the figure).

该指示灯307设置在执行机构主体的侧边，电源接口308的设置在执行机构主体侧边，电源设置在执行机构主体301内部。The indicator light 307 is provided on the side of the actuator body, the power interface 308 is provided on the side of the actuator body, and the power supply is provided inside the actuator body 301 .

该电源的输入端与电源接口308连接，电源的输出端与集成于执行机构主体301上的运动机构302、重力传感器303、导航传感器304、RGB-D相机305和抓取机构306连接。The input end of the power supply is connected to the power interface 308 , and the output end of the power supply is connected to the motion mechanism 302 , the gravity sensor 303 , the navigation sensor 304 , the RGB-D camera 305 and the grasping mechanism 306 integrated on the actuator body 301 .

电源接口308，用于通过外部电源为电源充电。The power interface 308 is used to charge the power supply through an external power supply.

电源充电，用于为集成于执行机构主体301上的运动机构302、重力传感器303、导航传感器304、RGB-D相机305和抓取机构306提供电源。The power supply is charged to provide power for the motion mechanism 302 , the gravity sensor 303 , the navigation sensor 304 , the RGB-D camera 305 and the grasping mechanism 306 integrated on the actuator body 301 .

控制器20还用于：在控制运动机构302基于导航传感器304沿移动轨迹移动的过程中，确定是否接收到RGB-D相机305发送的障碍物信息。若接收到，判断执行机构30与障碍物的距离是否大于等于预设的安全距离；若大于等于，控制执行机构停止移动，并触发该指示灯亮红灯。此时根据障碍物信息、执行机构的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则进行仿真计算，确定执行机构30新的移动轨迹。Thecontroller 20 is further configured to determine whether the obstacle information sent by the RGB-D camera 305 is received during the process of controlling the motion mechanism 302 to move along the movement track based on the navigation sensor 304 . If received, determine whether the distance between the actuator 30 and the obstacle is greater than or equal to the preset safety distance; if it is greater than or equal to, control the actuator to stop moving, and trigger the indicator light to turn on red. At this time, the simulation calculation is performed according to the obstacle information, the position of the actuator, the position of the area to be palletized, the space parameters of the area to be palletized, the item parameters, the distance parameter, the weight parameter and the preset placement rule, and thenew actuator 30 is determined. movement trajectory.

其中，障碍物信息包括执行机构与障碍物的距离。The obstacle information includes the distance between the actuator and the obstacle.

在具体实现中，在执行机构30沿第一移动轨迹移动的过程中，若接收到到RGB-D相机305发送的障碍物信息时，说明在执行机构沿第一移动轨迹移动的过程中存在障碍物。此时检测执行机构30与障碍物的距离是否大于等于预设的安全距离，若大于等于，说明障碍物影响当前执行机构的移动，控制执行机构30停止移动，并触发该指示灯亮红灯。基于障碍物信息、当前执行机构的位置和待码垛区域的位置利用仿真算法进行仿真计算，确定执行机构30新的第一移动轨迹。若小于，说明在执行机构30沿第一移动轨迹移动的过程中不存在障碍物，继续控制执行机构30按照仿真得到的第一移动轨迹移动，并触发该指示灯亮绿灯。同理，在执行机构30沿第二移动轨迹移动的过程中，也需要确定是否存在影响执行机构运行的障碍物，具体检测过程与执行机构沿第一移送轨迹移动的过程相同。In a specific implementation, during the movement of theactuator 30 along the first movement track, if the obstacle information sent by the RGB-D camera 305 is received, it means that there is an obstacle in the process of theactuator 30 moving along the first movement track thing. At this time, it is detected whether the distance between the actuator 30 and the obstacle is greater than or equal to the preset safety distance. If it is greater than or equal to, it means that the obstacle affects the movement of the current actuator, theactuator 30 is controlled to stop moving, and the indicator light is triggered to light red. Based on the obstacle information, the current position of the actuator and the position of the area to be palletized, a simulation algorithm is used to perform a simulation calculation, and a new first movement trajectory of theactuator 30 is determined. If it is smaller than that, it means that there is no obstacle during the movement of theactuator 30 along the first movement trajectory, and theactuator 30 is continuously controlled to move according to the first movement trajectory obtained by simulation, and the indicator light is triggered to light up green. Similarly, during the movement of theactuator 30 along the second movement trajectory, it is also necessary to determine whether there is an obstacle that affects the operation of the actuator. The specific detection process is the same as that of the actuator moving along the first transfer trajectory.

可选的，在执行机构30沿第三移动轨迹移动的过程中，若接收到到RGB-D相机305发送的障碍物信息时，说明在执行机构30沿第三移动轨迹移动的过程中存在障碍物。此时检测执行机构30与障碍物的距离是否大于等于预设的安全距离，若大于等于，控制执行机构30停止移动，并触发该指示灯亮红灯。基于障碍物信息、当前执行机构的位置和待待码垛区域的位置利用仿真算法进行仿真计算，确定执行机构30新的第三移动轨迹。若小于，则继续控制执行机构30按照仿真得到的第三移动轨迹移动，并触发该指示灯亮绿灯。Optionally, during the movement of theactuator 30 along the third movement track, if the obstacle information sent by the RGB-D camera 305 is received, it means that there is an obstacle in the process of theactuator 30 moving along the third movement track. thing. At this time, it is detected whether the distance between the actuator 30 and the obstacle is greater than or equal to the preset safety distance. If it is greater than or equal to, theactuator 30 is controlled to stop moving, and the indicator light is triggered to turn on red. Based on the obstacle information, the current position of the actuator and the position of the area to be palletized, a simulation algorithm is used to perform a simulation calculation to determine a new third movement trajectory of theactuator 30 . If it is less than that, continue to control theactuator 30 to move according to the third movement trajectory obtained by the simulation, and trigger the indicator light to turn on green.

在本发明实施例中，根据执行机构的位置、未码垛区域的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则进行仿真计算，依次确定抓取机构的第一操作参数、执行机构的第一移动轨迹、待处理物品在待码垛区域的放置位置、执行机构的第二移动轨迹和抓取机构的第二操作参数；控制运动机构基于导航传感器沿第一移动轨迹和第二移动轨迹移动，控制抓取机构基于第一操作参数将待处理物品抓取，并基于第二操作参数将待处理物品放置于待码垛区域的放置位置。在本方案中，不需要人工对搬运机器人移动的特定轨道和码垛机器人固定的特定位置进行调节，能够根据接收到的执行机构的位置、未码垛区域的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则，直接确定执行机构的移动轨迹和码垛位置，从而提高物流处理的效率。In the embodiment of the present invention, according to the position of the actuator, the position of the un-palletized area, the position of the area to be palletized, the space parameter of the area to be palletized, the item parameter, the distance parameter, the weight parameter and the preset placement rule The simulation calculation is used to determine the first operation parameter of the grasping mechanism, the first movement trajectory of the actuator, the placement position of the item to be processed in the area to be palletized, the second movement trajectory of the actuator and the second operation parameter of the grasping mechanism. ; Control the motion mechanism to move along the first movement track and the second movement track based on the navigation sensor, control the grabbing mechanism to grab the item to be processed based on the first operating parameter, and place the item to be processed on the pallet based on the second operating parameter. The placement of the area. In this solution, there is no need to manually adjust the specific track moved by the handling robot and the specific position fixed by the palletizing robot. The space parameters, item parameters, distance parameters, weight parameters and preset placement rules of the area to be palletized directly determine the movement trajectory and stacking position of the actuator, thereby improving the efficiency of logistics processing.

可选的，基于上述示出的物流设备，控制器20还用于：在确定待码垛区域的空间参数小于预设码垛区域的空间参数时，控制执行机构30停止码垛，并移动至预设的待机区域。Optionally, based on the logistics equipment shown above, thecontroller 20 is further configured to: when it is determined that the space parameter of the area to be palletized is smaller than the space parameter of the preset palletizing area, control theactuator 30 to stop the palletizing and move to Preset standby area.

在本具体实现中，控制器20确定待码垛区域的空间参数与预设码垛区域的空间参数之间的关系，若确定待码垛区域的空间参数小于预设码垛区域的空间参数时，说明待码垛区域已经不能够在进行码垛了，此时向执行机构30输出停止码垛指令，以控制执行机构30停止码垛，并移动至预设的待机区域。若待码垛区域的空间参数大于预设码垛区域的空间参数，说明当前码垛区域还能够进行码垛，则继续控制执行机构30返回未码垛区域，以循环搬运和码垛待处理物品，直至确定待码垛区域的空间参数小于预设码垛区域的空间参数。In this specific implementation, thecontroller 20 determines the relationship between the space parameters of the area to be palletized and the space parameters of the preset palletizing area. If it is determined that the space parameters of the area to be palletized are smaller than the space parameters of the preset palletizing area , indicating that the palletizing area can no longer be palletized. At this time, a stop palletizing command is output to theactuator 30 to control theactuator 30 to stop palletizing and move to the preset standby area. If the space parameter of the area to be palletized is greater than the space parameter of the preset palletizing area, indicating that the current palletizing area can still be palletized, then continue to control theactuator 30 to return to the non-palletizing area to cyclically transport and palletize the items to be processed , until it is determined that the space parameter of the area to be palletized is smaller than the space parameter of the preset palletizing area.

需要说明的是，预设的待机区域是技术人员根据现场实际情况设置的停放执行机构的地方。It should be noted that the preset standby area is a place set by the technician to park the actuator according to the actual situation on site.

在本发明实施例中，不需要人工对搬运机器人移动的特定轨道和码垛机器人固定的特定位置进行调节，能够根据接收到的执行机构的位置、未码垛区域的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则，直接确定执行机构的移动轨迹和码垛位置。在确定待码垛区域的空间参数小于预设码垛区域的空间参数时，控制执行机构停止码垛，并移动至预设的待机区域。从而提高物流处理的效率。In the embodiment of the present invention, there is no need to manually adjust the specific track moved by the handling robot and the specific position fixed by the palletizing robot. The position, space parameters of the area to be palletized, item parameters, distance parameters, weight parameters and preset placement rules directly determine the movement trajectory and stacking position of the actuator. When it is determined that the space parameter of the area to be palletized is smaller than the space parameter of the preset palletizing area, the actuator is controlled to stop the palletizing and move to the preset standby area. Thereby improving the efficiency of logistics processing.

为了更好解释说明上述本发明实施例示出的物流设备，在本申请一种应用场景中。In order to better explain the logistics equipment shown in the above embodiments of the present invention, it is in an application scenario of the present application.

假设未码垛区域的位置为A，待码垛区域的位置为B，第一预设距离为20厘米，待码垛区域的空间参数的长、宽和高均为4米，预设的距离阈值为1m，第二预设距离为10厘米，预设摆放规则为待码垛区域的高度1.2米以下优先放置较大重量大于20KG的待处理物品。Suppose the position of the un-palletized area is A, the position of the to-be-palletized area is B, the first preset distance is 20 cm, the length, width and height of the space parameters of the to-be-palletized area are 4 meters, the preset distance The threshold is 1m, the second preset distance is 10cm, and the preset placement rule is that the height of the area to be palletized is less than 1.2m, and the items to be processed with a heavier weight greater than 20KG are preferentially placed.

在当前执行机构的位置处于未码垛区域A时，RGB-D相机实时拍摄最近的正前方待处理物品及其周围的照片，并通过RGB-D相机内置的算法计算待处理物品的体积为0.5m³，在抓取机构要抓取待处理物品时待处理物品与抓取机构之间的距离参数为1.2m，在抓取机构要放置待处理物品时待处理物品与抓取机构之间的距离参数为0.8m。When the current position of the actuator is in the unpalletized area A, the RGB-D camera takes real-time photos of the nearest item to be processed and its surroundings, and calculates the volume of the item to be processed through the built-in algorithm of the RGB-D camera as 0.5 m³ , the distance parameter between the object to be processed and the grasping mechanism when the grasping mechanism is to grasp the object to be processed is 1.2m, and the distance parameter between the object to be processed and the grasping mechanism when the grasping mechanism is to place the object to be processed The distance parameter is 0.8m.

控制器利用仿真算法对距离参数1.2米和未码垛区域的位置A进行仿真计算，确定抓取机构的第一操作参数为向东北方向，且向下移动机械手臂；基于抓取机构的第一操作参数控制机械手臂向东北方向，且向下移动至待处理物品正上方，使机械手臂与待处理物品的距离在第一预设距离20厘米内。此时利用与机械手臂连接的吸盘吸取待处理物品Q。The controller uses the simulation algorithm to simulate and calculate the distance parameter of 1.2 meters and the position A of the non-palletizing area, and determines that the first operating parameter of the grasping mechanism is to move the manipulator in the northeast direction and move downward; based on the first operating parameter of the grasping mechanism The operating parameters control the robotic arm to move to the northeast direction and move down to just above the item to be processed, so that the distance between the robotic arm and the item to be processed is within a first preset distance of 20 cm. At this time, the object to be processed Q is sucked by the suction cup connected with the robot arm.

重力传感器测量该待处理物品Q的重量参数为25KG，并发送给控制器。The gravity sensor measures the weight parameter of the item Q to be processed as 25KG, and sends it to the controller.

然后，在抓取机构抓取到待处理物品后，控制器利用仿真算法对执行机构的位置和待码垛区域的位置B进行仿真计算，确定第一移动轨迹为a，并将第一移动轨迹a代入导航传感器，并向伺服电机发送控制指令，以便于伺服电机按照控制指令带动与伺服电机连接的执行机构车轮。基于导航传感器沿第一移动轨迹a移动，使得执行机构运动至待码垛区域。Then, after the grabbing mechanism grabs the item to be processed, the controller uses the simulation algorithm to simulate the position of the actuator and the position B of the area to be palletized, determines the first movement trajectory as a, and calculates the first movement trajectory as a. a Substitute the navigation sensor, and send control commands to the servo motor, so that the servo motor can drive the wheel of the actuator connected to the servo motor according to the control command. Based on the movement of the navigation sensor along the first movement track a, the actuator moves to the area to be palletized.

控制器再基于待码垛区域的空间参数长、宽和高均为4米、物品参数为0.5m³、重量参数25KG和预设摆放规则利用仿真算法进行仿真计算，得到待处理物品Q在待码垛区域的放置位置c；然后，基于待处理物品Q在待码垛区域的放置位置c，及当前执行机构的位置利用仿真算法进行仿真计算，得到第二移动轨迹b。Based on the spatial parameters of the area to be palletized, the length, width and height are all 4 meters, the item parameter is 0.5 m³ , the weight parameter is 25 KG and the preset placement rule uses the simulation algorithm to simulate the calculation, and the item to be processed Q is obtained. The placement position c of the area to be palletized; then, based on the placement position c of the item to be processed Q in the area to be palletized, and the position of the current actuator, use a simulation algorithm to perform simulation calculations to obtain a second movement trajectory b.

将第二移动轨迹b代入导航传感器，并向伺服电机发送控制指令以便于伺服电机按照控制指令带动与伺服电机连接的执行机构车轮。并基于导航传感器沿第二移动轨迹b移动，使得执行机构运动至能够码垛待处理物品Q的位置，此时能够码垛待处理物品Q的位置是指执行机构当前的位置与待处理物品Q在待码垛区域的放置位置之间的距离小于预设的距离阈值1m。Substitute the second movement trajectory b into the navigation sensor, and send a control command to the servo motor so that the servo motor can drive the wheel of the actuator connected to the servo motor according to the control command. And move along the second movement track b based on the navigation sensor, so that the actuator moves to a position where it can stack the items to be processed Q. At this time, the position where the items to be processed Q can be stacked refers to the current position of the actuator and the position of the items to be processed Q. The distance between the placement positions of the areas to be palletized is less than a preset distance threshold of 1 m.

利用仿真算法对距离参数0.8m和码垛区域的位置b进行仿真计算，确定抓取机构的第二操作参数为正北方向且向下移动机械手臂；利用抓取机构的第二操作参数，控制机械手臂向正北方向且向下移动移动，使得机械手臂在待处理物品在待码垛区域的放置位置c正上方，且机械手臂与待处理物品在待码垛区域的放置位置c的距离在第二预设距离10厘米内，此时将吸盘吸取的待处理物品放置于待码垛区域的放置位置c。Use the simulation algorithm to simulate the distance parameter 0.8m and the position b of the stacking area, and determine that the second operation parameter of the grasping mechanism is the north direction and move the robot arm downward; using the second operation parameter of the grasping mechanism, control the The robotic arm moves to the due north direction and moves downward, so that the robotic arm is directly above the placement position c of the item to be processed in the area to be palletized, and the distance between the robotic arm and the placement position c of the item to be processed in the area to be palletized is Within the second preset distance of 10 cm, the items to be processed picked up by the suction cups are placed at the placement position c of the area to be palletized.

最后，继续按照上述方式搬运和码垛下一个待处理物品，直至待码垛区域无剩余空间。Finally, continue to carry and stack the next item to be processed in the above manner until there is no space left in the area to be stacked.

在本发明实施例中，不需要人工对搬运机器人移动的特定轨道和码垛机器人固定的特定位置进行调节，能够根据接收到的执行机构的位置、未码垛区域的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则，直接确定执行机构的移动轨迹和码垛位置。在确定待码垛区域的空间参数小于预设码垛区域的空间参数时，控制执行机构停止码垛，并移动至预设的待机区域。从而提高物流处理的效率。In the embodiment of the present invention, there is no need to manually adjust the specific track moved by the handling robot and the specific position fixed by the palletizing robot. The position, space parameters of the area to be palletized, item parameters, distance parameters, weight parameters and preset placement rules directly determine the movement trajectory and stacking position of the actuator. When it is determined that the space parameter of the area to be palletized is smaller than the space parameter of the preset palletizing area, the actuator is controlled to stop the palletizing and move to the preset standby area. Thereby improving the efficiency of logistics processing.

基于上述本发明实施例公开的物流设备，本发明还对应公开了一种物流处理方法，如图4所示，为本发明实施例示出的一种物流处理方法的流程示意图，该物流处理方法包括：Based on the logistics equipment disclosed in the above embodiments of the present invention, the present invention also discloses a corresponding logistics processing method. As shown in FIG. 4 , it is a schematic flowchart of a logistics processing method shown in the embodiment of the present invention. :

步骤S401：接收RGB-D相机获取的待处理物品的物品参数，码垛区域的空间参数，以及待处理物品与抓取机构之间的距离参数。Step S401: Receive the item parameters of the item to be processed obtained by the RGB-D camera, the spatial parameters of the palletizing area, and the distance parameter between the item to be processed and the grabbing mechanism.

可选的，在执行机构的位置处于未码垛区域的位置时，RGB-D相机实时拍摄最近的正前方待处理物品及其周围的照片，并通过RGB-D相机内置的算法计算待处理物品的体积，以及待处理物品与抓取机构之间的距离参数。在执行机构的位置处于待码垛区域的位置时，RGB-D相机实时拍摄最近的待码垛区域的照片，并通过RGB-D相机内置的算法计算待码垛区域的空间参数。Optionally, when the position of the actuator is in the position of the unpalletized area, the RGB-D camera takes real-time photos of the nearest item to be processed in front and its surroundings, and calculates the item to be processed through the built-in algorithm of the RGB-D camera. , and the distance parameter between the item to be processed and the gripping mechanism. When the position of the actuator is in the position of the area to be palletized, the RGB-D camera takes a photo of the nearest area to be palletized in real time, and calculates the spatial parameters of the area to be palletized through the built-in algorithm of the RGB-D camera.

在具体实现步骤S401的过程中，控制器接收RGB-D相机发送的待处理物品的体积，待处理物品与抓取机构之间的距离参数，以及待码垛区域的空间参数。During the specific implementation of step S401, the controller receives the volume of the item to be processed sent by the RGB-D camera, the distance parameter between the item to be processed and the grasping mechanism, and the spatial parameter of the area to be palletized.

需要说明的是，待处理物品的物品参数包括待处理物品的体积。It should be noted that the item parameter of the item to be processed includes the volume of the item to be processed.

码垛区域的空间参数是指需要码垛待处理物品区域的长、宽和高。The spatial parameters of the palletizing area refer to the length, width and height of the area where the items to be processed need to be palletized.

步骤S402：接收重力传感器在抓取机构抓取待处理物品后，获取的待处理物品的重量参数。Step S402: Receive the weight parameter of the item to be processed obtained by the gravity sensor after the gripping mechanism grabs the item to be processed.

可选的，重力传感器在抓取机构抓取到待处理物品后，测量待处理物品的重量参数。Optionally, after the grabbing mechanism grabs the item to be processed, the gravity sensor measures the weight parameter of the item to be processed.

在具体实现步骤S402的过程中，控制器接收重力传感器发送的待处理物品的重量参数。During the specific implementation of step S402, the controller receives the weight parameter of the item to be processed sent by the gravity sensor.

需要说明的是，待处理物品的重量参数包括待处理物品的重量大小。It should be noted that the weight parameter of the item to be processed includes the weight of the item to be processed.

步骤S403：根据执行机构的位置、未码垛区域的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则进行仿真计算，确定执行机构的移动轨迹、抓取机构的操作参数和待处理物品在待码垛区域的放置位置。Step S403: Perform simulation calculation according to the position of the actuator, the position of the unpalletized area, the position of the area to be palletized, the space parameters of the area to be palletized, the item parameters, the distance parameter, the weight parameter and the preset placement rule, and determine The movement trajectory of the actuator, the operating parameters of the grabbing mechanism, and the placement position of the items to be processed in the area to be palletized.

需要说明的是，在执行步骤S403的过程中，包括以下步骤：It should be noted that in the process of executing step S403, the following steps are included:

步骤S11：基于距离参数、未码垛区域的位置和码垛区域的位置进行仿真计算，得到抓取机构的操作参数。Step S11 : perform simulation calculation based on the distance parameter, the position of the unpalletized area and the position of the palletized area, and obtain the operation parameters of the grasping mechanism.

在具体实现步骤S11的过程中，在当前执行机构的位置处于未码垛区域时，利用仿真算法对距离参数和未码垛区域的位置进行仿真计算，确定抓取机构的第一操作参数；利用仿真算法对距离参数和码垛区域的位置进行仿真计算，确定抓取机构的第二操作参数。In the process of implementing step S11, when the position of the current actuator is in the non-palletizing area, the distance parameter and the position of the non-palletizing area are simulated and calculated by using a simulation algorithm to determine the first operation parameter of the grasping mechanism; The simulation algorithm performs simulation calculation on the distance parameter and the position of the stacking area, and determines the second operation parameter of the grasping mechanism.

需要说明的是，抓取机构的第一操作参数是指抓取机构在抓取待处理物品前，抓取机构需要移动的方向和距离；抓取机构的第二操作参数是指抓取机构在放置待处理物品前，抓取机构需要移动的方向和距离。It should be noted that the first operating parameter of the grasping mechanism refers to the direction and distance that the grasping mechanism needs to move before the grasping mechanism grasps the item to be processed; the second operating parameter of the grasping mechanism refers to the The direction and distance that the gripping mechanism needs to move before placing the item to be processed.

步骤S12：基于执行机构的位置和待码垛区域的位置进行仿真计算，得到第一移动轨迹。Step S12: Perform a simulation calculation based on the position of the actuator and the position of the area to be palletized to obtain a first movement trajectory.

需要说明的是，第一移动轨迹用于指示执行机构从未码垛区域移动至待码垛区域的路径。It should be noted that the first movement track is used to indicate a path for the actuator to move from the non-palletizing area to the to-be-palletizing area.

在具体实现步骤S12的过程中，在抓取机构抓取到待处理物品后，利用仿真算法对执行机构的位置和待码垛区域的位置进行仿真计算，得到未码垛区域的位置至待码垛区域的路径。In the process of implementing step S12, after the grabbing mechanism grabs the item to be processed, the simulation algorithm is used to simulate the position of the actuator and the position of the to-be-stacked area, and the position of the un-palletized area to the to-be-stacked area is obtained. The path of the stack area.

步骤S13：基于执行机构的位置、待码垛区域的空间参数、物品参数、重量参数和预设摆放规则进行仿真计算，得到第二移动轨迹和待处理物品在待码垛区域的放置位置。Step S13: Perform simulation calculation based on the position of the actuator, the spatial parameters of the area to be palletized, the item parameters, the weight parameters and the preset placement rules, to obtain the second movement trajectory and the placement position of the items to be processed in the area to be palletized.

在具体实现步骤S13的过程中，在执行机构移动至待码垛区域时，首先，基于待码垛区域的空间参数、物品参数、重量参数和预设摆放规则利用仿真算法进行仿真计算，得到待处理物品在待码垛区域的放置位置；然后，基于待处理物品在待码垛区域的放置位置，及当前执行机构的位置利用仿真算法进行仿真计算，得到第二移动轨迹。In the process of specifically implementing step S13, when the actuator moves to the area to be palletized, first, based on the space parameters, item parameters, weight parameters and preset placement rules of the area to be palletized, a simulation algorithm is used to perform simulation calculation, and the result is obtained: The placement position of the item to be processed in the area to be palletized; then, based on the placement position of the item to be processed in the area to be palletized and the current position of the actuator, a simulation algorithm is used to perform a simulation calculation to obtain a second movement trajectory.

需要说明的是，第二移动轨迹用于指示执行机构从待码垛区域移动至能够码垛待处理物品的位置所对应的路径。It should be noted that the second movement track is used to instruct the actuator to move from the area to be palletized to the path corresponding to the position where the objects to be processed can be palletized.

步骤S404：控制运动机构基于导航传感器沿移动轨迹移动，控制抓取机构基于操作参数将待处理物品抓取并放置于待码垛区域的放置位置。Step S404 : the motion mechanism is controlled to move along the movement track based on the navigation sensor, and the grasping mechanism is controlled to grasp and place the item to be processed at the placement position of the area to be palletized based on the operation parameters.

在具体实现步骤S404的过程中，在当前执行机构的位置处于未码垛区域时，控制抓取机构基于操作参数将待处理物品抓取；在抓取机构抓取待处理物品后，控制伺服电机基于导航传感器沿移动轨迹移动，并将该待处理物品放置于待码垛区域的放置位置。In the process of implementing step S404, when the position of the current actuator is in the non-palletizing area, the grabbing mechanism is controlled to grab the item to be processed based on the operation parameters; after the grabbing mechanism grabs the item to be processed, the servo motor is controlled Move along the movement track based on the navigation sensor, and place the to-be-processed item at the placement position of the to-be-palletized area.

在本发明实施例中，不需要人工对搬运机器人移动的特定轨道和码垛机器人固定的特定位置进行调节，能够根据接收到的执行机构的位置、未码垛区域的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则，直接确定执行机构的移动轨迹和码垛位置。从而提高物流处理的效率。In the embodiment of the present invention, there is no need to manually adjust the specific track moved by the handling robot and the specific position fixed by the palletizing robot. The position, space parameters of the area to be palletized, item parameters, distance parameters, weight parameters and preset placement rules directly determine the movement trajectory and stacking position of the actuator. Thereby improving the efficiency of logistics processing.

基于上述本发明实施例示出的物流处理方法，结合图4，参考图5，还包括：Based on the logistics processing method shown in the above-mentioned embodiment of the present invention, in conjunction with FIG. 4, with reference to FIG. 5, it also includes:

步骤S405：判断待码垛区域的空间参数是否小于预设码垛区域的空间参数，若确定待码垛区域的空间参数小于预设码垛区域的空间参数时，则执行步骤S406，若待码垛区域的空间参数大于预设码垛区域的空间参数，则返回执行步骤S401。Step S405: Determine whether the space parameter of the area to be palletized is smaller than the space parameter of the preset palletizing area, if it is determined that the space parameter of the area to be palletized is smaller than the space parameter of the preset palletizing area, then execute step S406, if the space parameter of the area to be palletized is smaller than the space parameter of the preset palletizing area If the space parameter of the palletizing area is greater than the space parameter of the preset palletizing area, return to step S401.

在具体实现步骤S405的过程中，为了确定待码垛区域能够码垛的待处理物品的数量，需要在执行机构进行搬运及码垛的过程中，实时确定待码垛区域的空间参数与预设码垛区域的空间参数之间的关系，若确定待码垛区域的空间参数小于预设码垛区域的空间参数时，说明待码垛区域已经不能够在进行码垛了，并执行步骤S406，若待码垛区域的空间参数大于预设码垛区域的空间参数，说明当前码垛区域还能够进行码垛，并返回执行步骤S301。In the process of implementing step S405, in order to determine the number of items to be processed that can be palletized in the area to be palletized, it is necessary to determine the space parameters and presets of the area to be palletized in real time during the process of handling and palletizing by the actuator. The relationship between the space parameters of the palletizing area, if it is determined that the space parameter of the area to be palletized is smaller than the space parameter of the preset palletizing area, it means that the area to be palletized can no longer be palletized, and step S406 is executed, If the space parameter of the area to be palletized is greater than the space parameter of the preset palletizing area, it means that the current palletizing area can still be palletized, and the process returns to step S301.

需要说明的是，预设码垛区域的空间参数可以是根据待处理物品的数量进行预先设置的，也可以是根据货车的大小，或集装箱的大小进行设定的，对此本发明实施例不加以限定。It should be noted that the space parameters of the preset stacking area may be preset according to the number of items to be processed, or may be set according to the size of the truck or the size of the container, and this embodiment of the present invention does not be limited.

步骤S406：控制执行机构停止码垛，并移动至预设的待机区域。Step S406: Control the actuator to stop stacking and move to a preset standby area.

在具体实现步骤S406的过程中，向执行机构输出停止码垛指令，以控制执行机构停止码垛，并移动至预设的待机区域。During the specific implementation of step S406, a stop stacking instruction is output to the actuator to control the actuator to stop stacking and move to a preset standby area.

需要说明的是，预设的待机区域是技术人员根据现场实际情况设置的停放执行机构的地方。It should be noted that the preset standby area is a place set by the technician to park the actuator according to the actual situation on site.

在本发明实施例中，不需要人工对搬运机器人移动的特定轨道和码垛机器人固定的特定位置进行调节，能够根据接收到的执行机构的位置、未码垛区域的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则，直接确定执行机构的移动轨迹和码垛位置。在确定待码垛区域的空间参数小于预设码垛区域的空间参数时，控制执行机构停止码垛，并移动至预设的待机区域。从而提高物流处理的效率。In the embodiment of the present invention, there is no need to manually adjust the specific track moved by the handling robot and the specific position fixed by the palletizing robot. The position, space parameters of the area to be palletized, item parameters, distance parameters, weight parameters and preset placement rules directly determine the movement trajectory and stacking position of the actuator. When it is determined that the space parameter of the area to be palletized is smaller than the space parameter of the preset palletizing area, the actuator is controlled to stop the palletizing and move to the preset standby area. Thereby improving the efficiency of logistics processing.

基于上述本发明实施例示出的物流处理方法，在执行步骤S404控制运动机构基于导航传感器沿移动轨迹移动的过程中，包括以下步骤：Based on the logistics processing method shown in the above embodiment of the present invention, in the process of executing step S404 to control the movement mechanism to move along the movement track based on the navigation sensor, the following steps are included:

步骤S21：在仿真计算得到第一移动轨迹后，控制伺服电机基于导航传感器沿第一移动轨迹移动，使执行机构当前的位置处于待码垛区域。Step S21: After the simulation calculation obtains the first movement trajectory, control the servo motor to move along the first movement trajectory based on the navigation sensor, so that the current position of the actuator is in the area to be palletized.

在具体实现步骤S21的过程中，在抓取机构抓取待处理物品，且通过仿真计算得到第一移动轨迹后，将第一移动轨迹代入导航传感器，并向伺服电机发送控制指令，以便于伺服电机按照控制指令带动与伺服电机连接的执行机构车轮，并基于导航传感器沿第一移动轨迹移动，使得执行机构运动至待码垛区域。In the process of implementing step S21, after the grabbing mechanism grabs the item to be processed and obtains the first movement trajectory through simulation calculation, the first movement trajectory is substituted into the navigation sensor, and a control command is sent to the servo motor, so as to facilitate the servo motor The motor drives the wheel of the actuator connected to the servo motor according to the control instruction, and moves along the first movement track based on the navigation sensor, so that the actuator moves to the area to be palletized.

步骤S22：在仿真计算得到第二移动轨迹后，控制伺服电机基于导航传感器沿第二移动轨迹移动，使执行机构当前的位置与待处理物品在待码垛区域的放置位置之间的距离小于预设的距离阈值。Step S22: After the second movement trajectory is obtained through the simulation calculation, the servo motor is controlled to move along the second movement trajectory based on the navigation sensor, so that the distance between the current position of the actuator and the placement position of the item to be processed in the area to be palletized is smaller than the predetermined distance. set distance threshold.

在具体实现步骤S22的过程中，在执行机构运动至待码垛区域，且通过仿真计算得到第二移动轨迹后，将第二移动轨迹代入导航传感器，并向伺服电机发送控制指令以便于伺服电机按照控制指令带动与伺服电机连接的执行机构车轮，并基于导航传感器沿第二移动轨迹移动，使得执行机构运动至能够码垛待处理物品的位置，此时能够码垛待处理物品的位置是指执行机构当前的位置与待处理物品在待码垛区域的放置位置之间的距离小于预设的距离阈值。In the process of implementing step S22, after the actuator moves to the area to be palletized, and the second movement trajectory is obtained through simulation calculation, the second movement trajectory is substituted into the navigation sensor, and a control command is sent to the servo motor to facilitate the servo motor Drive the wheel of the actuator connected to the servo motor according to the control command, and move along the second movement track based on the navigation sensor, so that the actuator moves to the position where the items to be processed can be stacked. At this time, the position where the items to be processed can be stacked refers to The distance between the current position of the actuator and the placement position of the item to be processed in the area to be palletized is less than a preset distance threshold.

需要说明的是，预设的距离阈值是指技术人员根据实际情况进行设置的，比如可以设置为1.25米。It should be noted that the preset distance threshold is set by the technician according to the actual situation, for example, it can be set to 1.25 meters.

在本发明实施例中，控制运动机构基于导航传感器沿第一移动轨迹和第二移动轨迹移动。本方案中，不需要人工对搬运机器人移动的特定轨道和码垛机器人固定的特定位置进行调节，能够根据接收到的执行机构的位置、未码垛区域的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则，直接确定执行机构的移动轨迹和码垛位置，从而提高物流处理的效率。In the embodiment of the present invention, the motion mechanism is controlled to move along the first movement track and the second movement track based on the navigation sensor. In this solution, there is no need to manually adjust the specific track moved by the handling robot and the specific position fixed by the palletizing robot. The space parameters, item parameters, distance parameters, weight parameters and preset placement rules of the stacking area directly determine the movement trajectory and stacking position of the actuator, thereby improving the efficiency of logistics processing.

基于上述示出的物流处理方法，在执行步骤S404控制器控制抓取机构基于操作参数将待处理物品抓取并放置于待码垛区域的放置位置，包括以下步骤：Based on the logistics processing method shown above, in step S404, the controller controls the grabbing mechanism to grab and place the items to be processed in the placement position of the area to be palletized based on the operation parameters, including the following steps:

步骤S31：基于抓取机构的操作参数，控制机械手臂移动至待处理物品正上方，使机械手臂与待处理物品的距离在第一预设距离内。Step S31: Based on the operation parameters of the grasping mechanism, control the robotic arm to move directly above the item to be processed, so that the distance between the robotic arm and the item to be processed is within a first preset distance.

在具体实现步骤步骤S31的过程中，利用抓取机构的第一操作参数，控制机械手臂移动，使得机械手臂在待处理物品正上方，且机械手臂与待处理物品的距离在第一预设距离内。In the process of implementing step S31, the first operating parameter of the grasping mechanism is used to control the movement of the robotic arm, so that the robotic arm is directly above the item to be processed, and the distance between the robotic arm and the item to be processed is within the first preset distance Inside.

需要说明的是，第一预设距离是技术人员根据多次实验进行设置的，比如可设置为20厘米。It should be noted that the first preset distance is set by a technician according to multiple experiments, for example, it can be set to 20 cm.

步骤S32：利用与机械手臂连接的吸盘吸取待处理物品。Step S32: Using the suction cup connected with the robotic arm to suck up the item to be processed.

在具体实现步骤S32的过程中，In the process of specifically implementing step S32,

步骤S33：在执行机构当前的位置与待处理物品在待码垛区域的放置位置之间的距离小于预设的距离阈值时，控制与机械手臂移动至待处理物品在待码垛区域的放置位置的正上方，使机械手臂与待处理物品的放置位置的距离在第二预设距离内。Step S33: when the distance between the current position of the actuator and the placement position of the item to be processed in the area to be palletized is less than the preset distance threshold, the control and the robotic arm move to the placement position of the item to be processed in the area to be palletized The distance between the robot arm and the placement position of the item to be processed is within the second preset distance.

在具体实现步骤S33的过程中，在执行机构当前的位置与待处理物品在待码垛区域的放置位置之间的距离小于预设的距离阈值时，利用抓取机构的第二操作参数，控制机械手臂移动，使得机械手臂在待处理物品在待码垛区域的放置位置正上方，且机械手臂与待处理物品在待码垛区域的放置位置的距离在第二预设距离内。In the process of specifically implementing step S33, when the distance between the current position of the actuator and the placement position of the item to be processed in the area to be palletized is less than the preset distance threshold, the second operation parameter of the grasping mechanism is used to control the The robotic arm moves so that the robotic arm is directly above the placement position of the item to be processed in the area to be palletized, and the distance between the robotic arm and the placement position of the item to be processed in the area to be palletized is within a second preset distance.

需要说明的是，第二预设距离也是技术人员根据多次实验进行设置的，比如可设置为20厘米。It should be noted that the second preset distance is also set by technicians according to multiple experiments, for example, it can be set to 20 cm.

步骤S34：将吸盘吸取的待处理物品放置于待码垛区域的放置位置。Step S34: Place the items to be processed picked up by the suction cups at the placement position of the area to be palletized.

在本发明实施例中，控制抓取机构基于第一操作参数将待处理物品抓取，并基于第二操作参数将待处理物品放置于待码垛区域的放置位置。在本方案中，不需要人工对搬运机器人移动的特定轨道和码垛机器人固定的特定位置进行调节，能够根据接收到的执行机构的位置、未码垛区域的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则，直接确定执行机构的移动轨迹和码垛位置，从而提高物流处理的效率。In the embodiment of the present invention, the grabbing mechanism is controlled to grab the item to be processed based on the first operation parameter, and place the item to be processed at the placement position of the area to be palletized based on the second operation parameter. In this solution, there is no need to manually adjust the specific track moved by the handling robot and the specific position fixed by the palletizing robot. The space parameters, item parameters, distance parameters, weight parameters and preset placement rules of the area to be palletized directly determine the movement trajectory and stacking position of the actuator, thereby improving the efficiency of logistics processing.

基于上述本发明实施例示出的物流处理方法，在控制器控制运动机构基于导航传感器沿移动轨迹移动的过程中，如图6所示，还包括以下步骤：Based on the logistics processing method shown in the above embodiment of the present invention, in the process that the controller controls the motion mechanism to move along the movement track based on the navigation sensor, as shown in FIG. 6 , the following steps are also included:

步骤S601：确定是否接收到RGB-D相机发送的障碍物信息，若接收到，执行步骤S602，若未接收到，则继续控制执行机构按照仿真得到的移动轨迹移动。Step S601: Determine whether the obstacle information sent by the RGB-D camera is received, if received, go to step S602, if not, continue to control the actuator to move according to the movement trajectory obtained by the simulation.

步骤S601中，障碍物信息包括执行机构与障碍物的距离。In step S601, the obstacle information includes the distance between the actuator and the obstacle.

在具体实现步骤S601的过程中，在执行机构沿第一移动轨迹移动的过程中，判断是否接收到RGB-D相机发送的障碍物信息，若是，说明在执行机构沿第一移动轨迹移动的过程中存在障碍物，并执行步骤S602，若否，说明在执行机构沿第一移动轨迹移动的过程中不存在障碍物，继续控制执行机构按照仿真得到的第一移动轨迹移动。In the process of implementing step S601, in the process of the actuator moving along the first movement trajectory, it is determined whether the obstacle information sent by the RGB-D camera is received, and if so, the process of the actuator moving along the first movement trajectory is described. If there is an obstacle, step S602 is executed. If no, it means that there is no obstacle in the process of the actuator moving along the first movement trajectory, and the actuator continues to be controlled to move according to the first movement trajectory obtained by simulation.

可选的，在控制伺服电机基于导航传感器沿第三移动轨迹移动的过程中，判断是否接收到RGB-D相机发送的障碍物信息，若是，说明在控制伺服电机基于导航传感器沿第三移动轨迹移动的过程中存在障碍物，并执行步骤S602，若否，说明在控制伺服电机基于导航传感器沿第三移动轨迹移动的过程中不存在障碍物，继续控制执行机构按照仿真得到的第三移动轨迹移动。Optionally, in the process of controlling the servo motor to move along the third movement trajectory based on the navigation sensor, determine whether the obstacle information sent by the RGB-D camera is received. If yes, it means that the servo motor is controlled to move along the third movement trajectory based on the navigation sensor There is an obstacle in the process of moving, and step S602 is executed. If not, it means that there is no obstacle in the process of controlling the servo motor to move along the third movement trajectory based on the navigation sensor, and continue to control the actuator according to the third movement trajectory obtained by simulation. move.

步骤S602：判断执行机构与障碍物的距离是否大于等于预设的安全距离，若大于等于，执行步骤S603，若小于等于，继续控制执行机构按照仿真得到的移动轨迹移动。Step S602: Determine whether the distance between the actuator and the obstacle is greater than or equal to a preset safety distance, if greater than or equal to, perform step S603, if less than or equal to, continue to control the actuator to move according to the movement trajectory obtained by the simulation.

在具体实现步骤S602的过程中，为了确定障碍物是否影响执行机构的移动，需要检测执行机构与障碍物的距离是否大于等于预设的安全距离，若大于等于，说明障碍物影响执行机构的移动，并执行步骤S503，若小于，说明障碍物不影响执行机构的移动，则继续控制执行机构按照仿真得到的移动轨迹移动。In the process of implementing step S602, in order to determine whether the obstacle affects the movement of the actuator, it is necessary to detect whether the distance between the actuator and the obstacle is greater than or equal to the preset safety distance. If it is greater than or equal to, it means that the obstacle affects the movement of the actuator. , and step S503 is executed, if it is smaller than the obstacle, it means that the obstacle does not affect the movement of the actuator, and the actuator is continued to be controlled to move according to the movement trajectory obtained by the simulation.

需要说明的是，预设的安全距离是技术人员根据执行机构的大小进行设置的。It should be noted that the preset safety distance is set by the technician according to the size of the actuator.

步骤S603：控制执行机构停止移动，根据障碍物信息、执行机构的位置、待码垛区域的位置、待码垛区域的空间参数、物品参数、距离参数、重量参数和预设摆放规则进行仿真计算，确定执行机构新的移动轨迹。Step S603: Control the actuator to stop moving, and simulate according to the obstacle information, the position of the actuator, the position of the area to be palletized, the space parameters of the area to be palletized, item parameters, distance parameters, weight parameters and preset placement rules Calculate to determine the new movement trajectory of the actuator.

在具体实现步骤S603的过程中，控制执行机构停止移动，根据导航系统确定当前执行机构的位置，若当前执行机构的位置为第一移动轨迹上的某一点时，基于障碍物信息、当前执行机构的位置和待码垛区域的位置利用仿真算法进行仿真计算，确定执行机构新的第一移动轨迹。In the process of implementing step S603, the actuator is controlled to stop moving, and the position of the current actuator is determined according to the navigation system. The position of , and the position of the area to be palletized are calculated by simulation algorithm, and the new first movement trajectory of the actuator is determined.

若当前执行机构的位置为第二移动轨迹上的某一点时，基于障碍物信息、当前执行机构的位置待码垛区域的空间参数、物品参数、重量参数和预设摆放规则利用仿真算法进行仿真计算，确定执行机构新的第二移动轨迹。If the position of the current actuator is a certain point on the second movement trajectory, the simulation algorithm is used to carry out simulation algorithm based on the obstacle information, the current position of the actuator, the spatial parameters of the area to be palletized, the item parameters, the weight parameters and the preset placement rules. The simulation calculation is performed to determine the new second movement trajectory of the actuator.

可选的，若当前执行机构的位置为第三移动轨迹上的某一点时，基于障碍物信息、当前执行机构的位置和待待码垛区域的位置利用仿真算法进行仿真计算，确定执行机构新的第三移动轨迹。Optionally, if the current position of the actuator is a certain point on the third movement trajectory, use a simulation algorithm to perform simulation calculation based on the obstacle information, the current position of the actuator and the position of the area to be palletized to determine the new position of the actuator. the third movement trajectory.

在本发明实施例中，确定基于执行机构运动沿移动轨迹移动的过程中是否存在障碍物，以便于执行机构能够避开障碍物，使得物流处理的过程更智能化，从而提高物流处理的效率。In the embodiment of the present invention, it is determined whether there are obstacles in the process of moving along the moving trajectory based on the movement of the actuator, so that the actuator can avoid obstacles, make the process of logistics processing more intelligent, and improve the efficiency of logistics processing.

本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于系统或系统实施例而言，由于其基本相似于方法实施例，所以描述得比较简单，相关之处参见方法实施例的部分说明即可。以上所描述的系统及系统实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for related parts. The systems and system embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, It can be located in one place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

专业人员还可以进一步意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。Professionals may further realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two, in order to clearly illustrate the possibilities of hardware and software. Interchangeability, the above description has generally described the components and steps of each example in terms of function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.

对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The above description of the disclosed embodiments enables any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

Translated fromChinese

1.一种物流设备，其特征在于，所述物流设备包括：控制器和执行机构；1. A logistics equipment, characterized in that the logistics equipment comprises: a controller and an executive mechanism;所述执行机构包括集成于主体上的运动机构、重力传感器、导航传感器、RGB-D相机和抓取机构；The actuator includes a motion mechanism, a gravity sensor, a navigation sensor, an RGB-D camera and a grasping mechanism integrated on the main body;所述RGB-D相机设置在主体的前端，用于获取待处理物品的物品参数，码垛区域的空间参数，以及所述待处理物品与所述抓取机构之间的距离参数，并发送给所述控制器；The RGB-D camera is arranged at the front end of the main body, and is used to obtain the item parameters of the items to be processed, the spatial parameters of the stacking area, and the distance parameters between the items to be processed and the grabbing mechanism, and send them to the the controller;所述抓取机构设置于所述主体上方，用于抓取所述待处理物品；The grabbing mechanism is arranged above the main body and is used for grabbing the item to be processed;所述重力传感器，用于在所述抓取机构抓取所述待处理物品后，获取所述待处理物品的重量参数，并发送给所述控制器；The gravity sensor is used to acquire the weight parameter of the item to be processed after the grabbing mechanism grabs the item to be processed, and send it to the controller;所述控制器，用于根据所述执行机构的位置、未码垛区域的位置、所述待码垛区域的位置、所述待码垛区域的空间参数、所述物品参数、所述距离参数、所述重量参数和预设摆放规则进行仿真计算，确定所述执行机构的移动轨迹、所述抓取机构的操作参数和所述待处理物品在所述待码垛区域的放置位置；控制所述运动机构基于所述导航传感器沿所述移动轨迹移动，控制所述抓取机构基于所述操作参数将所述待处理物品抓取并放置于所述待码垛区域的放置位置。The controller is used for the position of the actuator, the position of the un-palletized area, the position of the to-be-palletized area, the space parameter of the to-be-palletized area, the item parameter, the distance parameter , the weight parameters and preset placement rules are simulated and calculated to determine the movement trajectory of the actuator, the operating parameters of the grabbing mechanism and the placement position of the to-be-processed item in the to-be-stacked area; control The motion mechanism moves along the movement track based on the navigation sensor, and controls the grasping mechanism to grasp and place the to-be-processed item at the placement position of the to-be-palletized area based on the operation parameter.2.根据权利要求1所述的物流设备，其特征在于，所述执行机构的移动轨迹包括第一移动轨迹和第二移动轨迹，所述根据所述执行机构的位置、未码垛区域的位置、所述待码垛区域的位置、所述待码垛区域的空间参数、所述物品参数、所述距离参数、所述重量参数和预设摆放规则进行仿真计算，确定所述执行机构的移动轨迹、所述抓取机构的操作参数和所述待处理物品在所述待码垛区域的放置位置的控制器，具体用于：2 . The logistics equipment according to claim 1 , wherein the movement trajectory of the actuator includes a first movement trajectory and a second movement trajectory, and the movement trajectory according to the position of the actuator and the position of the unpalletized area is 1. 3 . , the position of the to-be-stacked area, the space parameters of the to-be-stacked area, the item parameters, the distance parameters, the weight parameters and the preset placement rules are simulated and calculated to determine the size of the actuator. The controller of the movement track, the operating parameters of the grabbing mechanism and the placement position of the items to be processed in the area to be palletized, specifically for:基于所述距离参数、未码垛区域的位置和待码垛区域的位置进行仿真计算，得到所述抓取机构的操作参数；Perform a simulation calculation based on the distance parameter, the position of the un-palletized area and the position of the to-be-palletized area to obtain the operation parameters of the grasping mechanism;基于所述执行机构的位置和所述待码垛区域的位置进行仿真计算，得到所述第一移动轨迹，所述第一移动轨迹用于指示所述执行机构从未码垛区域移动至所述待码垛区域的路径；Simulation calculation is performed based on the position of the actuator and the position of the area to be palletized, and the first movement trajectory is obtained, and the first movement trajectory is used to instruct the actuator to move from the unpalletized area to the The path of the area to be palletized;基于所述执行机构的位置、所述待码垛区域的空间参数、所述物品参数、所述待码垛区域的空间参数、所述物品参数、所述重量参数和预设摆放规则进行仿真计算，得到所述第二移动轨迹和所述待处理物品在所述待码垛区域的放置位置。Simulation is performed based on the position of the actuator, the space parameters of the area to be palletized, the item parameters, the space parameters of the area to be palletized, the item parameters, the weight parameters and preset placement rules Calculation is performed to obtain the second movement trajectory and the placement position of the to-be-processed item in the to-be-stacked area.3.根据权利要求2所述的物流设备，其特征在于，所述运行机构包括伺服电机，所述控制所述运动机构基于所述导航传感器沿所述移动轨迹移动的控制器，具体用于：3. The logistics equipment according to claim 2, wherein the operating mechanism comprises a servo motor, and the controller that controls the motion mechanism to move along the movement track based on the navigation sensor is specifically used for:在仿真计算得到所述第一移动轨迹后，控制所述伺服电机基于所述导航传感器沿所述第一移动轨迹移动，使所述执行机构当前的位置处于所述待码垛区域；After the first movement trajectory is obtained by simulation calculation, controlling the servo motor to move along the first movement trajectory based on the navigation sensor, so that the current position of the actuator is in the area to be palletized;在仿真计算得到所述第二移动轨迹后，控制所述伺服电机基于所述导航传感器沿所述第二移动轨迹移动，使所述执行机构当前的位置与所述待处理物品在所述待码垛区域的放置位置之间的距离小于预设的距离阈值。After the second movement trajectory is obtained through simulation calculation, the servo motor is controlled to move along the second movement trajectory based on the navigation sensor, so that the current position of the actuator and the to-be-processed item are in the to-be-coded position. The distance between the placement positions of the stack area is less than the preset distance threshold.4.根据权利要求2所述的物流设备，其特征在于，所述抓取机构包括机械手臂和吸盘，所述机械手臂的抓取端与所述吸盘相连；所述控制所述抓取机构基于所述操作参数将所述待处理物品抓取并放置于所述待码垛区域的放置位置的控制器，具体用于：4. The logistics equipment according to claim 2, wherein the grasping mechanism comprises a robotic arm and a suction cup, and the grasping end of the robotic arm is connected with the suction cup; the control of the grasping mechanism is based on the The operation parameter is a controller that grabs and places the item to be processed at the placement position of the area to be palletized, and is specifically used for:基于所述抓取机构的操作参数，控制所述机械手臂移动至所述待处理物品正上方，使所述机械手臂与所述待处理物品的距离在第一预设距离内；Based on the operating parameters of the grasping mechanism, controlling the robotic arm to move directly above the item to be processed, so that the distance between the robotic arm and the item to be processed is within a first preset distance;利用与所述机械手臂连接的吸盘吸取所述待处理物品；Using the suction cup connected with the mechanical arm to suck the object to be processed;在所述执行机构当前的位置与所述待处理物品在所述待码垛区域的放置位置之间的距离小于预设的距离阈值时，控制与所述机械手臂移动至所述待处理物品在所述待码垛区域的放置位置的正上方，使所述机械手臂与所述待处理物品的放置位置的距离在第二预设距离内；When the distance between the current position of the actuator and the placement position of the item to be processed in the area to be palletized is less than a preset distance threshold, the control and the robotic arm move to the position where the item to be processed is located Just above the placement position of the area to be palletized, so that the distance between the robotic arm and the placement position of the item to be processed is within a second preset distance;将所述吸盘吸取的所述待处理物品放置于所述待码垛区域的放置位置。The to-be-processed items sucked by the suction cups are placed at the placement position of the to-be-palletized area.5.根据权利要求1所述的物流设备，其特征在于，所述RGB-D相机还用于获取所述执行机构行进方向的障碍物信息。5 . The logistics equipment according to claim 1 , wherein the RGB-D camera is further configured to acquire obstacle information in the travel direction of the actuator. 6 .6.根据权利要求5所述的物流设备，其特征在于，所述控制器还用于：6. logistics equipment according to claim 5, is characterized in that, described controller is also used for:在控制所述运动机构基于所述导航传感器沿所述移动轨迹移动的过程中，确定是否接收到所述RGB-D相机发送的障碍物信息，所述障碍物信息包括所述执行机构与障碍物的距离；In the process of controlling the motion mechanism to move along the movement track based on the navigation sensor, determine whether the obstacle information sent by the RGB-D camera is received, where the obstacle information includes the actuator and the obstacle the distance;若接收到，判断所述执行机构与障碍物的距离是否大于等于预设的安全距离；If received, determine whether the distance between the actuator and the obstacle is greater than or equal to a preset safety distance;若大于等于，控制所述执行机构停止移动，根据所述障碍物信息、所述执行机构的位置、所述待码垛区域的位置、所述待码垛区域的空间参数、所述物品参数、所述距离参数、所述重量参数和预设摆放规则进行仿真计算，确定所述执行机构新的移动轨迹。If it is greater than or equal to, control the actuator to stop moving, according to the obstacle information, the position of the actuator, the position of the area to be palletized, the space parameters of the area to be palletized, the item parameters, The distance parameter, the weight parameter and the preset placement rule are simulated and calculated to determine a new movement trajectory of the actuator.7.根据权利要求1所述的物流设备，其特征在于，所述控制器还用于：7. logistics equipment according to claim 1, is characterized in that, described controller is also used for:在确定所述待码垛区域的空间参数小于预设码垛区域的空间参数时，控制所述执行机构停止码垛，并移动至预设的待机区域。When it is determined that the space parameter of the area to be palletized is smaller than the space parameter of the preset palletizing area, the actuator is controlled to stop the palletizing and move to the preset standby area.8.根据权利要求1所述的物流设备，其特征在于，所述物流设备，还包括：遥控手柄设备；8. The logistics device according to claim 1, wherein the logistics device further comprises: a remote control handle device;所述遥控手柄设备的输入端与所述控制器相连；The input end of the remote control handle device is connected with the controller;所述遥控手柄设备的输出端与所述执行机构连接；The output end of the remote control handle device is connected with the actuator;所述遥控手柄设备，用于控制所述执行机构移动，并控制抓取机构抓取待处理物品。The remote control handle device is used to control the movement of the actuator and control the grasping mechanism to grasp the items to be processed.9.一种物流处理方法，其特征在于，所述方法包括：9. A logistics processing method, characterized in that the method comprises:接收所述RGB-D相机获取的待处理物品的物品参数，码垛区域的空间参数，以及所述待处理物品与所述抓取机构之间的距离参数；Receive the item parameters of the items to be processed obtained by the RGB-D camera, the spatial parameters of the stacking area, and the distance parameters between the items to be processed and the grabbing mechanism;接收所述重力传感器在所述抓取机构抓取所述待处理物品后，获取的所述待处理物品的重量参数；receiving the weight parameter of the item to be processed obtained by the gravity sensor after the grabbing mechanism grabs the item to be processed;根据所述执行机构的位置、未码垛区域的位置、所述待码垛区域的位置、所述待码垛区域的空间参数、所述物品参数、所述距离参数、所述重量参数和预设摆放规则进行仿真计算，确定所述执行机构的移动轨迹、所述抓取机构的操作参数和所述待处理物品在所述待码垛区域的放置位置；According to the position of the actuator, the position of the unpalletized area, the position of the to-be-palletized area, the space parameters of the to-be-palletized area, the item parameter, the distance parameter, the weight parameter and the preset Set a placement rule to perform simulation calculation, and determine the movement trajectory of the actuator, the operating parameters of the grabbing mechanism, and the placement position of the item to be processed in the area to be palletized;控制所述运动机构基于所述导航传感器沿所述移动轨迹移动，控制所述抓取机构基于所述操作参数将所述待处理物品抓取并放置于所述待码垛区域的放置位置。The movement mechanism is controlled to move along the movement track based on the navigation sensor, and the grasping mechanism is controlled to grasp and place the to-be-processed item at the placement position of the to-be-palletized area based on the operation parameter.10.根据权利要求9所述的方法，其特征在于，还包括：在确定所述待码垛区域的空间参数小于预设码垛区域的空间参数时，控制所述执行机构停止码垛，并移动至预设的待机区域。10. The method according to claim 9, further comprising: when it is determined that the space parameter of the area to be palletized is smaller than the space parameter of the preset palletizing area, controlling the actuator to stop the palletizing, and Move to the preset standby area.

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