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US-12623844-B2 - Adjustment method, apparatus, and device for material handling apparatus

US12623844B2US 12623844 B2US12623844 B2US 12623844B2US-12623844-B2

Abstract

The embodiments of the present application provide a method, apparatus, and device for adjusting a material handling apparatus of a robot. The method includes: acquiring a first detection image through an image acquisition apparatus when the robot moves to a target ground identifier corresponding to a target storage location; determining a pose position relationship between the target storage location and the image acquisition apparatus based on preset key points in the first detection image; and adjusting the material handling apparatus of the robot to be aligned with the target storage location based on the pose position relationship, so that an insert plate of the material handling apparatus is placed between a first supporting portion and a second supporting portion. In this way, the material handling apparatus is calibrated before goods are retrieved or stored, which avoids collisions during goods retrieval and storage and improves operation safety of the robot.

Inventors

  • Ying Zhao

Assignees

  • HAI ROBOTICS CO., LTD.

Dates

Publication Date
20260512
Application Date
20231107
Priority Date
20210512

Claims (15)

  1. 1 . A method for adjusting a material handling apparatus of a robot, wherein an image acquisition apparatus is arranged on the material handling apparatus, and the material handling apparatus is provided with an insert plate, wherein the method comprises: acquiring a first detection image through the image acquisition apparatus when the robot moves to a target ground identifier, wherein the target ground identifier is a ground identifier corresponding to a target storage location, wherein a supporting portion is arranged at the target storage location and is configured to support goods, wherein the supporting portion comprises a first supporting portion and a second supporting portion, the first supporting portion and the second supporting portion being spaced apart by a distance; determining a pose position relationship between the target storage location and the material handling apparatus based on an identification pattern in the first detection image; adjusting the material handling apparatus of the robot to be aligned with the target storage location based on the pose position relationship, so that the insert plate of the material handling apparatus is able to be placed between the first supporting portion and the second supporting portion; and transporting the goods to or from the target storage location; wherein the image acquisition apparatus comprises a first image acquisition apparatus and a second image acquisition apparatus, the first image acquisition apparatus and the second image acquisition apparatus being respectively arranged on two sides of the material handling apparatus; wherein the acquiring the first detection image through the image acquisition apparatus comprises: respectively acquiring one first detection image through the first image acquisition apparatus and the second image acquisition apparatus, to obtain two first detection images; wherein the determining the pose position relationship between the target storage location and the material handling apparatus based on the identification pattern in the first detection image comprises: identifying the identification pattern corresponding to the target storage location in the two first detection images respectively if the two first detection images both comprise the identification pattern, to obtain a first identification result and a second identification result; and determining the pose position relationship between the target storage location and the material handling apparatus based on the first identification result and the second identification result; wherein the determining the pose position relationship between the target storage location and the material handling apparatus based on the first identification result and the second identification result comprises: calculating a position average of points of the identification pattern in the first identification result and the second identification result, and an angle average of the identification pattern in the first identification result and the second identification result; and determining the pose position relationship between the target storage location and the material handling apparatus based on the position average and the angle average.
  2. 2 . The method according to claim 1 , wherein the identification pattern is arranged on a rack column corresponding to the target storage location; wherein the determining the pose position relationship between the target storage location and the material handling apparatus based on the identification pattern in the first detection image comprises: identifying the identification pattern corresponding to the target storage location based on the first detection image; and determining the pose position relationship between the material handling apparatus and the target storage location based on an identification result.
  3. 3 . The method according to claim 2 , wherein the determining the pose position relationship between the material handling apparatus and the target storage location based on the identification result comprises: determining at least one of an angle deviation, a height deviation, and a path deviation of the material handling apparatus based on position information of the identification pattern and angle information of the identification pattern; wherein the path deviation is a deviation between an image center of the image acquisition apparatus and a storage location center of the target storage location.
  4. 4 . The method according to claim 3 , wherein the determining at least one of the angle deviation, the height deviation, and the path deviation of the material handling apparatus comprises: at least partially determining the path deviation of the material handling apparatus; wherein the adjusting the material handling apparatus of the robot to be aligned with the target storage location based on the pose position relationship comprises: determining a storage location type of the target storage location; determining a preset deviation based on the storage location type of the target storage location; adjusting the material handling apparatus based on the preset deviation, to adjust the path deviation to the preset deviation.
  5. 5 . The method according to claim 3 , wherein the determining at least one of the angle deviation, the height deviation, and the path deviation of the material handling apparatus comprises: at least partially determining the angle deviation of the material handling apparatus; wherein the adjusting the material handling apparatus of the robot to be aligned with the target storage location based on the pose position relationship comprises: adjusting an angle of the material handling apparatus based on the angle deviation.
  6. 6 . The method according to claim 3 , wherein the determining at least one of the angle deviation, the height deviation, and the path deviation of the material handling apparatus comprises: at least partially determining the height deviation of the material handling apparatus; wherein the adjusting the material handling apparatus of the robot to be aligned with the target storage location based on the pose position relationship comprises: adjusting a height of the material handling apparatus based on the height deviation.
  7. 7 . The method according to claim 1 , wherein the identification pattern corresponds to the target storage location, the method further comprising: if the identification pattern corresponding to the target storage location is not identified from the first detection image, adjusting the image acquisition apparatus within a preset range and acquiring at least one second detection image; identifying the identification pattern corresponding to the target storage location in the second detection image if the second detection image comprises the identification pattern; and determining the pose position relationship between the material handling apparatus and the target storage location based on an identification result.
  8. 8 . The method according to claim 1 , wherein after the adjusting the material handling apparatus of the robot to be aligned with the target storage location, the method further comprises: determining whether an image center of the image acquisition apparatus is aligned with a center of the target storage location; and controlling the material handling apparatus to extend toward the target storage location if the image center of the image acquisition apparatus is aligned with the center of the target storage location, so as to transport the goods to or from the target storage location.
  9. 9 . The method according to claim 1 , further comprising: acquiring a layer detection image of a preset layer of a temporary storage rack of the robot through the image acquisition apparatus; determining positions of two preset points of the preset layer of the temporary storage rack based on the layer detection image; determining a second angle deviation and a second height deviation between the material handling apparatus and the preset layer of the temporary storage rack based on the positions of the two preset points; determining, based on the second angle deviation and the second height deviation, whether the material handling apparatus is to collide with the temporary storage rack after the material handling apparatus extends toward the preset layer of the temporary storage rack; and if the material handling apparatus is not to collide with the temporary storage rack, controlling the material handling apparatus to transport goods to or from the preset layer of the temporary storage rack.
  10. 10 . A method for adjusting a material handling apparatus of a robot, wherein an image acquisition apparatus is arranged on the material handling apparatus, and the material handling apparatus is provided with an insert plate, wherein the method comprises: acquiring a first detection image through the image acquisition apparatus when the robot moves to a target ground identifier, wherein the target ground identifier is a ground identifier corresponding to a target storage location, wherein a supporting portion is arranged at the target storage location and is configured to support goods, wherein the supporting portion comprises a first supporting portion and a second supporting portion, the first supporting portion being spaced apart from the second supporting portion; determining a pose position relationship between the target storage location and the material handling apparatus based on key points corresponding to the first supporting portion and the second supporting portion in the first detection image; adjusting the material handling apparatus of the robot to be aligned with the target storage location based on the pose position relationship, so that the insert plate of the material handling apparatus is able to be placed between the first supporting portion and the second supporting portion; and transporting the goods to or from the target storage location; wherein the method further comprises: acquiring a layer detection image of a preset layer of a temporary storage rack of the robot through the image acquisition apparatus; determining positions of two preset points of the preset layer of the temporary storage rack based on the layer detection image; determining a second angle deviation and a second height deviation between the material handling apparatus and the preset layer of the temporary storage rack based on the positions of the two preset points; determining, based on the second angle deviation and the second height deviation, whether the material handling apparatus is to collide with the temporary storage rack after the material handling apparatus extends toward the preset layer of the temporary storage rack; and if the material handling apparatus is not to collide with the temporary storage rack, controlling the material handling apparatus to transport goods to or from the preset layer of the temporary storage rack.
  11. 11 . The method according to claim 10 , wherein the determining the pose position relationship between the target storage location and the material handling apparatus based on the key points in the first detection image comprises: determining positions of center points of the first supporting portion and the second supporting portion based on the first detection image; and determining the pose position relationship between the material handling apparatus and the target storage location based on the positions of the center points of the first supporting portion and the second supporting portion.
  12. 12 . The method according to claim 11 , wherein the determining the positions of the center points of the first supporting portion and the second supporting portion based on the first detection image comprises: determining a distance between the first supporting portion and the second supporting portion based on the first detection image; and determining a position of a center point of the first supporting portion and a position of a center point of the second supporting portion in the first detection image based at least in part on the distance.
  13. 13 . The method according to claim 11 , wherein the determining the pose position relationship between the material handling apparatus and the target storage location based on the positions of the center points of the first supporting portion and the second supporting portion comprises: determining at least one of an angle deviation, a height deviation, and a path deviation of the material handling apparatus based on the positions of the center points of the first supporting portion and the second supporting portion.
  14. 14 . The method according to claim 10 , wherein after the adjusting the material handling apparatus of the robot to be aligned with the target storage location, the method further comprises: determining whether an image center of the image acquisition apparatus is aligned with a center of the target storage location; and controlling the material handling apparatus to extend toward the target storage location if the image center of the image acquisition apparatus is aligned with the center of the target storage location, so as to transport the goods to or from the target storage location.
  15. 15 . An apparatus for adjusting a material handling apparatus, wherein the material handling apparatus is arranged on a robot, the material handling apparatus being provided with an image acquisition apparatus and an insert plate, the method comprising: a memory configured to store computer-executable instructions; and at least one processor configured to execute the computer-executable instructions stored in the memory so as to perform the method according to claim 1 .

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is a continuation of International Patent Application No. PCT/CN2022/071764 filed on Jan. 13, 2022, which claims priority to Chinese Patent Application No. 202110517215.0 filed on May 12, 2021, which are both incorporated herein by reference in their entireties. TECHNICAL FIELD The present application relates to the technical field of intelligent warehousing, and in particular, to an adjustment method, apparatus, and device for a material handling apparatus, a robot, and a warehousing system. BACKGROUND An intelligent warehousing system based on a robot adopts an intelligent operating system, implements automatic retrieval and storage of containers through system instructions, and may also operate 24 hours a day without interruption, which replaces manual management and operation, improves the efficiency of warehousing, and has been widely applied and favored. During retrieval or storage of the goods on a rack based on robots, the prior art often moves to a target storage location only based on corresponding instructions, so that the goods are directly placed at the target storage location, or the goods placed at the target storage location are directly retrieved, which easily leads to a collision between a material handling apparatus of the robot and the rack, causing damage of the rack or the robot and even the occurrence of accidents such as toppling of the rack, and resulting in poor safety of goods retrieval or storage operations. SUMMARY The present application provides an adjustment method, apparatus, and device for a material handling apparatus, a robot, and a warehousing system. Before retrieving or placing goods, an automatic calibration between the material handling apparatus and a target storage location is realized through an image acquisition apparatus, which improves safety of goods retrieval and storage. According to a first aspect, an embodiment of the present application provides an adjustment method for a material handling apparatus. The method includes: acquiring a first detection image through the image acquisition apparatus when the robot moves to a target ground identifier, where the target ground identifier is a ground identifier corresponding to a target storage location, a supporting portion is arranged at the target storage location, and the supporting portion includes a first supporting portion and a second supporting portion at a same height to collaboratively place goods; determining a pose position relationship between the target storage location and the material handling apparatus based on information of preset key points in the first detection image, where the preset key points include points corresponding to a rack identification code and/or the supporting portions; and adjusting the material handling apparatus of the robot to be aligned with the target storage location based on the pose position relationship to place an insert plate of the material handling apparatus between the first supporting portion and the second supporting portion, so as to retrieve goods from the target storage location or place goods to the target storage location. Optionally, the rack identification code is arranged on a rack column corresponding to the target storage location, and the determining the pose position relationship between the target storage location and the material handling apparatus based on the information of preset key points in the first detection image includes: identifying the rack identification code corresponding to the target storage location based on the first detection image; and determining the pose position relationship between the material handling apparatus and the target storage location based on an identification result if the identification succeeds. Optionally, the determining the pose position relationship between the material handling apparatus and the target storage location based on an identification result includes: determining an angle deviation, a height deviation, and a path deviation of the material handling apparatus based on position information of feature points of the rack identification code and angle information of an identification pattern of the rack identification code, where the path deviation is a deviation of an image center between the image acquisition apparatus and a storage location center of the target storage location. Optionally, the adjusting the material handling apparatus of the robot to be aligned with the target storage location based on the pose position relationship includes: determining a storage location type of the target storage location; determining a preset deviation based on the storage location type of the target storage location; adjusting the material handling apparatus based on the preset deviation, to adjust the path deviation to the preset deviation; and respectively adjusting an angle and a height of the material handling apparatus based on the angle deviation