Robot and robot-based material box detection method

1 . A robot, comprising a main control processing unit, a picking up and placing assembly, and a detection assembly arranged on the picking up and placing assembly, wherein

the detection assembly is configured to align with a storage position to be detected along a detection direction to collect data and send a data collection result to the main control processing unit; and

the main control processing unit is configured to determine a material box storage state in the storage position to be detected based on the data collection result,

wherein the picking up and placing assembly comprises a picking up and placing port and an extension fork component on a side of the picking up and placing assembly;

wherein the detection assembly comprises a first detection assembly, the first detection assembly beinq a ranging sensor arranged on the extension fork component of the picking up and placing assembly, with detection direction of the ranging sensor beinq consistent with an extension direction of the extension fork component;

wherein the main control processing unit is configured to control the picking up and placing assembly to be moved into alignment with the storage position to be detected, and to control the picking up and placing assembly to perform at least one horizontal rotation and adjustment based on an effective rotation angle of the picking up and placing assembly, to drive the first detection assembly to adjust its detection direction so as to align with the storage position to be detected,

wherein the effective rotation angle is a rotation angle of the detection assembly, relative to a rotation reference direction, that can make the detection direction of the detection assembly point to a material box in the storage position to be detected, and comprises a minimum rotation angle and a maximum rotation angle, wherein the rotation reference direction is an extension fork direction of the extension fork component, on which the first detection assembly is located, when the picking up and placing port of the picking up and placing assembly aligns with the storage position to be detected;

wherein when the detection direction faces one outer side of the material box, the corresponding angle is the minimum rotation angle, and when the detection direction faces the other outer side of the material box, the corresponding angle is the maximum rotation angle; and

the main control processing unit is further configured to determine, during rotation of the detection assembly between the minimum rotation angle and the maximum rotation angle, that there is a material box in the storage position to be detected if a distance measured by the detection assembly is in a preset distance range,

wherein the preset distance range is set to be a distance range measured by the first detection component as the picking up and placing assembly rotates from the minimum rotation angle to the maximum rotation angle when a material box is present in the storage position to be detected.

2 . The robot according to claim 1 , wherein the minimum rotation angle and the maximum rotation angle are determined based on, when the first detection assembly aligns with a storage position to be detected along the detection direction, (1) a vertical distance from the first detection assembly to an edge line of the storage position to be detected and (2) a size of a material box to be placed in the storage position to be detected or a size of the storage position to be detected.

3 . The robot according to claim 1 , wherein an angle range of the effective rotation angle is [0, arctan(L 0 /d)], and the preset distance range is [d, (d 2 +L 0 2 ) 1/2 ], wherein, L 0 is a size of a material box to be placed in the storage position to be detected, and d refers to a vertical distance from the first detection assembly to an edge line of the storage position to be detected.

4 . The robot according to claim 1 , wherein the main control processing unit is configured to control the picking up and placing assembly to perform horizontal rotation adjustment and/or height adjustment based on the effective rotation angle of the first detection assembly, in a case that the picking up and placing assembly is moved to align with the storage position to be detected, such that the detection direction of the first detection assembly aligns with the storage position to be detected.

5 . The root according to claim 1 , wherein the detection assembly comprises the first detection assembly arranged at a bottom of the picking up and placing assembly; and

the main control processing unit is configured to control the picking up and placing assembly to perform height adjustment, such that the bottom of the picking up and placing assembly is higher than the storage position to be detected and a height difference therebetween is less than a preset threshold; and control the picking up and placing assembly to rotate horizontally, so as to drive the first detection assembly to rotate such that the detection direction of the first detection assembly is aligned with the storage position to be detected.

6 . The root according to claim 1 , wherein the detection assembly comprises the first detection assembly, and the storage position to be detected comprises a temporary storage assembly arranged on a body of the robot and a target shelf position in a warehousing area;

the main control processing unit is configured to control the picking up and placing assembly to perform movement adjustment such that the detection direction of the first detection assembly is aligned with the storage position to be detected; and

the first detection assembly is configured to, after being aligned with the storage position to be detected along the detection direction, collect data and send a data collection result to the main control processing unit.

7 . The robot according to claim 6 , wherein a plurality of compartments of different heights are arranged on the robot, and each compartment is correspondingly provided with one temporary storage assembly.

8 . The robot according to claim 1 , wherein the detection assembly further comprises a second detection assembly, a detection direction of the second detection assembly aligns with an inside of the picking up and placing assembly, and the storage position to be detected comprises the picking up and placing assembly arranged on a body of the robot.

9 . The robot according to claim 8 , wherein the second detection assembly comprises master-slave through-beam sensors respectively arranged at two inner sides of the picking up and placing assembly so as to block a through-beam path between the master-slave through-beam sensors when a material box enters the picking up and placing assembly.

10 . The robot according to claim 9 , wherein the data collection result comprises a conduction state of the through-beam path between the master-slave through-beam sensors when the second detection assembly aligns with the storage position to be detected.

11 . The robot according to claim 8 , wherein the second detection assembly comprises master-slave through-beam sensors respectively arranged on two extension fork components on two sides of the picking up and placing assembly.

12 . The robot according to claim 8 , wherein the second detection assembly comprises a single ranging sensor arranged on an inner side of the picking up and placing assembly aligned with the picking up and placing port of the picking up and placing assembly, and the detection direction of the single ranging sensor is consistent with a direction of the picking up and placing port of the picking up and placing assembly.

13 . The robot according to claim 12 , wherein the data collection result is a distance information obtained by the second detection assembly when the second detection assembly aligns with the storage position to be detected.

14 . A robot-based material box detection method, comprising the following steps:

aligning a detection assembly arranged on a picking up and placing assembly of a robot with a storage position to be detected along a detection direction to collect data and send a data collection result to a main control processing unit on the robot; and

determining, by the main control processing unit, a material box storage state in the storage position to be detected based on the data collection result,

wherein the aligning of the detection assembly arranged on the picking up and placing assembly of the robot with the storage position to be detected along the detection direction to collect data comprises:

controlling, by the main control processing unit, the picking up and placing assembly to control the picking up and placing assembly to be moved into alignment with the storage position to be detected, and to perform at least one horizontal rotation and adjustment based on an effective rotation angle of the picking up and placing assembly, to drive the first detection assembly to adjust its detection direction so as to align with the storage position to be detected and to collect data; wherein the effective rotation angle is a rotation angle of the first detection assembly, relative to a rotation reference direction, that can make the detection direction of the detection assembly point to a material box in the storage position to be detected, and comprises a minimum rotation angle and a maximum rotation angle; and

the determining, by the main control processing unit, the material box storage state in the storage position to be detected based on the data collection result comprises: determining, during rotation of the detection assembly between the minimum rotation angle and the maximum rotation angle, that there is a material box in the storage position to be detected if a distance measured by the first detection assembly is in a preset distance range,

wherein the picking up and placing assembly comprises a picking up and placing port and an extension fork component on a side of the picking up and placing assembly,

wherein the detection assembly comprises a first detection assembly, the first detection assembly being a ranging sensor arranged on the extension fork component of the picking up and placing assembly, with detection direction of the ranging sensor beinq consistent with an extension direction of the extension fork component,

wherein the rotation reference direction is an extension fork direction of the extension fork component, on which the first detection assembly is located, when the picking up and placing port of the picking up and placing assembly aligns with the storage position to be detected,

wherein when the detection direction faces one outer side of the material box, the corresponding angle is the minimum rotation angle, and when the detection direction faces the other outer side of the material box, the corresponding angle is the maximum rotation angle;

wherein the preset distance range is set to be a distance range measured by the first detection component as the picking up and placing assembly rotates from the minimum B rotation angle to the maximum rotation angle when a material box is present in the storage position to be detected.

15 . The detection method according to claim 14 , wherein the minimum rotation angle and the maximum rotation angle are determined based on, when the first detection assembly aligns with a storage position to be detected along the detection direction, (1) a vertical distance from the first detection assembly to an edge line of the storage position to be detected and (2) a size of a material box to be placed in the storage position to be detected or a size of the storage position to be detected.

16 . The detection method according to claim 14 , wherein an angle range of the effective rotation angle is [0, arctan(L 0 /d)], and the preset distance range is [d, (d 2 +L 0 2 ) 1/2 ], wherein, L 0 is a size of a material box to be placed in the storage position to be detected, and d refers to a vertical distance from the first detection assembly to an edge line of the storage position to be detected.

17 . A non-transitory computer-readable storage medium on which a computer program is stored, wherein the computer program, when executed by processor, implements the robot-based material box detection method according to claim 14 .