Granted Patent B2

US 12,459,797 · App. 18/343,992 · Granted Nov 4, 2025

Inventors: Huixiang Li (Guangdong, CN); Jui-chun Cheng (Guangdong, CN); Jiawei He (Guangdong, CN)

Assignee: HAI ROBOTICS CO., LTD.

B66F9/0755B66F9/063G05D1/0055G05D1/0223G05D1/0238

Abstract

Claims (91)

1 . A fork collision processing method, comprising:

determining a collision type when it is detected that a fork of a robot encounters a collision;

determining a fork collision processing strategy according to the collision type; and

processing the fork collision according to the fork collision processing strategy;

wherein the fork comprises a telescopic arm, the telescopic arm is configured to stretch horizontally, the collision type comprises a collision with the telescopic arm stretched and a collision with the telescopic arm not stretched.

2 . The method according to claim 1 , wherein when the collision type is the collision with the telescopic arm not stretched, the determining a fork collision processing strategy according to the collision type comprises:

determining a first collision processing strategy according to the collision type; or

determining a second collision processing strategy according to the collision type, wherein

the first collision processing strategy comprises: controlling a movement speed of the fork to be zero; and

the second collision processing strategy comprises: controlling a movement speed of the fork to be zero, and controlling a first driving element to drive the fork to rotate to stop driving the fork to rotate, so that the fork is in a free rotating state.

3 . The method according to claim 2 , wherein the first collision processing strategy is determined according to the collision type when the fork is loaded with goods; and

the second collision processing strategy is determined according to the collision type when the fork is not loaded with goods.

4 . The method according to claim 1 , wherein when the collision type is the collision with the telescopic arm stretched, the determining a fork collision processing strategy according to the collision type comprises:

determining a third collision processing strategy according to the collision type; or

determining a fourth collision processing strategy according to the collision type; or

determining a fifth collision processing strategy according to the collision type; or

determining a sixth collision processing strategy according to the collision type, wherein

the third collision processing strategy comprises: controlling a stretch/retraction speed of the telescopic arm to be zero;

the fourth collision processing strategy comprises: controlling a stretch/retraction speed of the telescopic arm to be zero, and controlling a first driving element to drive the fork to rotate to stop driving the fork to rotate, so that the fork is in a free rotating state;

the fifth collision processing strategy comprises: controlling a stretch/retraction speed of the telescopic arm to be zero, and controlling a second driving element to drive the telescopic arm to stretch/retract to stop driving the telescopic arm to stretch/retract, so that the telescopic arm is in a free stretching/retracting state; and

the sixth collision processing strategy comprises: controlling a stretch/retraction speed of the telescopic arm to be zero, and controlling a first driving element to drive the fork to rotate to stop driving the fork to rotate, so that the fork is in a free rotating state; and controlling a second driving element to drive the telescopic arm to stretch/retract to stop driving the telescopic arm to stretch/retract, so that the telescopic arm is in a free stretching/retracting state.

5 . The method according to claim 4 , wherein the third collision processing strategy is determined according to the collision type when the fork is loaded with goods; and

the fourth collision processing strategy, the fifth collision processing strategy, or the sixth collision processing strategy is determined according to the collision type when the fork is not loaded with goods.

6 . The method according to claim 1 , wherein it is determined in at least one of the following ways that the fork of the robot encounters a collision:

an increase margin of an operating current of a driving element reaches a first preset threshold, and a duration for which a situation that the increase margin of the operating current of the driving element reaches the first preset threshold lasts reaches a first preset duration; or

a decrease margin of a movement speed of the fork reaches a second preset threshold; or

the increase margin of the operating current of the driving element reaches a third preset threshold, a duration for which a situation that the increase margin of the operating current of the driving element reaches the third preset threshold lasts reaches a second preset duration, and the decrease margin of the movement speed of the fork reaches a fourth preset threshold; or

a change margin of a pressure detected by a pressure sensor arranged on the fork reaches a fifth preset threshold, wherein

the driving element comprises at least one of a first driving element to drive the fork to rotate, a second driving element configured to drive a telescopic arm to stretch/retract, and a third driving element configured to drive the fork to ascend/descend.

7 . The method according to claim 1 , further comprising:

identifying an obstacle in collision and processing the obstacle according to an identification result after it is detected that the fork of the robot encounters the collision.

8 . The method according to claim 7 , wherein the processing the obstacle according to an identification result comprises:

determining a goods type of the obstacle according to the identification result when the obstacle is goods; and

carrying the obstacle to a corresponding goods storage position according to the goods type of the obstacle.

9 . The method according to claim 1 , further comprising:

executing a fork collision avoidance strategy when it is detected that the fork is about to encounter a collision.

10 . A folk collision processing apparatus, comprising:

a memory, configured to store a computer program; and

at least one processor, configured to execute the computer program;

wherein the computer program comprises following executable computer instructions:

determining a collision type when it is detected that a fork of a robot encounters a collision;

determining a fork collision processing strategy according to the collision type; and

processing the fork collision according to the fork collision processing strategy;

wherein the fork comprises a telescopic arm, the telescopic arm is configured to stretch horizontally, the collision type comprises a collision with a telescopic arm stretched and a collision with the telescopic arm not stretched.

11 . The apparatus according to claim 10 , wherein when the collision type is the collision with the telescopic arm not stretched, the computer program comprises following executable computer instructions:

determining a first collision processing strategy according to the collision type; or

determining a second collision processing strategy according to the collision type, wherein

the first collision processing strategy comprises: controlling a movement speed of the fork to be zero; and

the second collision processing strategy comprises: controlling a movement speed of the fork to be zero, and controlling a first driving element to drive the fork to rotate to stop driving the fork to rotate, so that the fork is in a free rotating state.

12 . The apparatus according to claim 11 , the first collision processing strategy is determined according to the collision type when the fork is loaded with goods; and

the second collision processing strategy is determined according to the collision type when the fork is not loaded with goods.

13 . The apparatus according to claim 10 , wherein when the collision type is the collision with the telescopic arm stretched, the computer program comprises following executable computer instructions:

determining a third collision processing strategy according to the collision type; or

determining a fourth collision processing strategy according to the collision type; or

determining a fifth collision processing strategy according to the collision type; or

determining a sixth collision processing strategy according to the collision type, wherein

the third collision processing strategy comprises: controlling a stretch/retraction speed of the telescopic arm to be zero;

the fourth collision processing strategy comprises: controlling a stretch/retraction speed of the telescopic arm to be zero, and controlling a first driving element to drive the fork to rotate to stop driving the fork to rotate, so that the fork is in a free rotating state;

the fifth collision processing strategy comprises: controlling a stretch/retraction speed of the telescopic arm to be zero, and controlling a second driving element to drive the telescopic arm to stretch/retract to stop driving the telescopic arm to stretch/retract, so that the telescopic arm is in a free stretching/retracting state; and

the sixth collision processing strategy comprises: controlling a stretch/retraction speed of the telescopic arm to be zero, and controlling a first driving element to drive the fork to rotate to stop driving the fork to rotate, so that the fork is in a free rotating state; and

controlling a second driving element to drive the telescopic arm to stretch/retract to stop driving the telescopic arm to stretch/retract, so that the telescopic arm is in a free stretching/retracting state.

14 . The apparatus according to claim 13 , wherein the third collision processing strategy is determined according to the collision type when the fork is loaded with goods; and

the fourth collision processing strategy, the fifth collision processing strategy, or the sixth collision processing strategy is determined according to the collision type when the fork is not loaded with goods.

15 . A robot, comprising a fork and a fork collision processing apparatus;

wherein A folk collision processing apparatus comprises:

a memory, configured to store a computer program; and

at least one processor, configured to execute the computer program;

wherein the computer program comprises following executable computer instructions:

determining a collision type when it is detected that a fork of a robot encounters a collision;

determining a fork collision processing strategy according to the collision type; and

processing the fork collision according to the fork collision processing strategy;

wherein the fork comprises a telescopic arm, the telescopic arm is configured to stretch horizontally, the collision type comprises a collision with a telescopic arm stretched and a collision with the telescopic arm not stretched.

16 . The robot according to claim 15 , wherein when the collision type is the collision with the telescopic arm not stretched, the computer program comprises following executable computer instructions:

determining a first collision processing strategy according to the collision type; or

determining a second collision processing strategy according to the collision type, wherein

the first collision processing strategy comprises: controlling a movement speed of the fork to be zero; and

the second collision processing strategy comprises: controlling a movement speed of the fork to be zero, and controlling a first driving element to drive the fork to rotate to stop driving the fork to rotate, so that the fork is in a free rotating state.

17 . The robot according to claim 15 , wherein when the collision type is the collision with the telescopic arm stretched, the computer program comprises following executable computer instructions:

determining a third collision processing strategy according to the collision type; or

determining a fourth collision processing strategy according to the collision type; or

determining a fifth collision processing strategy according to the collision type; or

determining a sixth collision processing strategy according to the collision type, wherein

the third collision processing strategy comprises: controlling a stretch/retraction speed of the telescopic arm to be zero;

the fourth collision processing strategy comprises: controlling a stretch/retraction speed of the telescopic arm to be zero, and controlling a first driving element to drive the fork to rotate to stop driving the fork to rotate, so that the fork is in a free rotating state;

the fifth collision processing strategy comprises: controlling a stretch/retraction speed of the telescopic arm to be zero, and controlling a second driving element to drive the telescopic arm to stretch/retract to stop driving the telescopic arm to stretch/retract, so that the telescopic arm is in a free stretching/retracting state; and

the sixth collision processing strategy comprises: controlling a stretch/retraction speed of the telescopic arm to be zero, and controlling a first driving element to drive the fork to rotate to stop driving the fork to rotate, so that the fork is in a free rotating state; and controlling a second driving element to drive the telescopic arm to stretch/retract to stop driving the telescopic arm to stretch/retract, so that the telescopic arm is in a free stretching/retracting state.

18 . A non-transitory computer-readable storage medium comprising instructions, wherein the instructions, when executed by a processor, cause the processor to perform:

determining a collision type when it is detected that a fork of a robot encounters a collision;

determining a fork collision processing strategy according to the collision type; and

processing the fork collision according to the fork collision processing strategy;

wherein the fork comprises a telescopic arm, the telescopic arm is configured to stretch horizontally, the collision type comprises a collision with a telescopic arm stretched and a collision with the telescopic arm not stretched.

Assignments (3)

Priority Claims (1)

Continuity (2)

References Cited (23)