WO2021052264A1 - 配送物到位检测装置、方法、机器人、配送设备和控制器 - Google Patents

配送物到位检测装置、方法、机器人、配送设备和控制器 Download PDF

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Publication number
WO2021052264A1
WO2021052264A1 PCT/CN2020/114906 CN2020114906W WO2021052264A1 WO 2021052264 A1 WO2021052264 A1 WO 2021052264A1 CN 2020114906 W CN2020114906 W CN 2020114906W WO 2021052264 A1 WO2021052264 A1 WO 2021052264A1
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WIPO (PCT)
Prior art keywords
delivery
robot
controller
distance
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/114906
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English (en)
French (fr)
Inventor
许哲涛
肖军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Hai Yi Tong Zhan Information Technology Co Ltd
Original Assignee
Beijing Hai Yi Tong Zhan Information Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Hai Yi Tong Zhan Information Technology Co Ltd filed Critical Beijing Hai Yi Tong Zhan Information Technology Co Ltd
Priority to US17/639,156 priority Critical patent/US12434925B2/en
Priority to EP20864806.3A priority patent/EP4005967A4/en
Publication of WO2021052264A1 publication Critical patent/WO2021052264A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
    • G01B11/0608—Height gauges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details

Definitions

  • the present disclosure relates to the field of robots, and in particular to a device, a method, a robot, a distribution device, and a controller for detecting the in-position of a delivery.
  • Hospital distribution robots currently generally use two methods.
  • One method is the integrated design of the distribution vehicle and the robot, and the two cannot be separated; the second method is that the distribution vehicle and the robot can be set separately.
  • the detachable design can improve the efficiency of the delivery vehicle, and different delivery vehicles can be used to deliver different items, making the use more flexible.
  • the robot runs below the delivery vehicle, or the staff pushes the delivery vehicle above the robot, and then the robot carries the delivery vehicle forward.
  • the delivery vehicle fails to reach the predetermined position of the robot, so that the delivery vehicle may be separated during the transportation process.
  • a technical problem to be solved by the present disclosure is to provide a device, a method, a robot, a delivery device and a controller for detecting the delivery in place, which can improve the accuracy of detecting whether the delivery is located at a predetermined position of the robot.
  • a device for detecting the delivery of goods which includes: a plurality of distance measuring sensors arranged on the end surface of the protruding part of the robot facing the placement area of the delivery, wherein the protruding part is located at the end of the delivery area.
  • each of the plurality of distance measuring sensors is configured to detect the distance between each of the distance measuring sensors and the end surface of the delivery item facing the plurality of distance measuring sensors;
  • the controller is configured to determine that the delivery item has been located at a predetermined position of the chassis based on the condition that the distance detected by each distance measuring sensor is not greater than a first distance threshold.
  • the projections of each of the plurality of ranging sensors on the chassis do not overlap each other.
  • the projections of at least two of the plurality of ranging sensors on the chassis do not overlap.
  • the distance between the projections of at least two of the plurality of ranging sensors on the chassis is not less than a second distance threshold.
  • the controller is further configured to send an alarm instruction when at least one of the distances detected by each ranging sensor changes during the operation of the robot.
  • the pressure sensor is arranged on the lifting mechanism of the robot, and is configured to send the detected pressure information of the lifting mechanism to the controller; the controller is also configured to determine that the pressure information is greater than the pressure When the threshold is reached, an instruction to stop lifting the delivery is sent to the lifting mechanism.
  • the controller is further configured to send an instruction to lift the delivery to the lifting mechanism when the delivery is already at a predetermined position on the chassis of the robot.
  • the first height detection sensor is configured to send a first signal to the controller when detecting that the lifting mechanism is raised to a predetermined height; the controller is also configured to receive When the first signal is reached, an instruction to stop lifting the delivery is sent to the lifting mechanism.
  • the second height detection sensor is configured to send a second signal to the controller when detecting that the lifting mechanism has dropped to the initial position; the controller is also configured to receive When the second signal is used, an instruction to stop descending is sent to the jacking mechanism.
  • the first height detection sensor and the second height detection sensor are infrared pairs of tubes.
  • a robot including the delivery in-position detection device of any of the foregoing embodiments.
  • a delivery device which includes: the robot of any of the foregoing embodiments; and a delivery vehicle; wherein the delivery vehicle and the robot can be provided separately.
  • a method for detecting the in-position of a delivery includes: receiving the direction of each of the distance-measuring sensors and the direction of the delivery detected by each of the plurality of distance-measuring sensors The distance between the end surfaces of a plurality of distance measuring sensors, wherein the plurality of distance measuring sensors are arranged on the end surface of the protruding part of the robot facing the placement area of the delivery; the distance detected by each measuring sensor is not greater than the first In the case of a distance threshold, it is determined that the delivery item has been located at a predetermined position on the chassis of the robot.
  • an alarm instruction is sent.
  • the pressure information detected by the pressure sensor is received, where the pressure sensor is arranged on the lifting mechanism of the robot to detect the pressure information that the lifting mechanism bears; when it is determined that the pressure information is greater than the pressure threshold, the pressure information is sent to the lifting mechanism Send an instruction to stop lifting the delivery.
  • an instruction to lift the delivery item is sent to the lifting mechanism of the robot.
  • an instruction to stop lifting the delivery is sent to the lifting mechanism; wherein, the first signal represents the The lifting mechanism is raised to a predetermined height.
  • an instruction to stop descending is sent to the jacking mechanism; wherein, the second signal indicates that the jacking mechanism is lowered to initial position.
  • a controller including: a processor; and a memory coupled to the processor for storing instructions that, when executed by the processor, cause the The processor executes the delivery arrival detection method as described in any of the foregoing embodiments.
  • a non-transitory computer-readable storage medium on which a computer program is stored, wherein the program is executed by a processor to implement the delivery in-position detection method described in any of the embodiments. step.
  • a plurality of ranging sensors are provided on the end surface of the protruding part of the robot facing the delivery, and each ranging sensor detects the orientation of each ranging sensor and the delivery. According to the distance detected by each ranging sensor, it is determined whether the delivery item has been located at a predetermined position on the chassis of the robot.
  • the delivery arrival detection device of the embodiment of the present disclosure can improve the accuracy of detecting whether the delivery is located at the predetermined position of the robot, and reduce the loss during transportation.
  • Fig. 1 is a schematic structural diagram of some embodiments of a device for detecting delivery in place according to the present disclosure.
  • Fig. 2 is a schematic structural diagram of other embodiments of the device for detecting delivery in place according to the present disclosure.
  • FIG. 3 is a schematic diagram of the structure of still other embodiments of the device for detecting the delivery in place of the present disclosure.
  • Fig. 4 is a schematic structural diagram of still other embodiments of the device for detecting the delivery in place of the present disclosure.
  • Fig. 5 is a schematic flow diagram of some embodiments of the method for detecting the delivery of goods in place according to the present disclosure.
  • Fig. 6 is a schematic flow diagram of other embodiments of the method for detecting the delivery of goods in place according to the present disclosure.
  • Fig. 7 is a schematic structural diagram of some embodiments of the controller of the present disclosure.
  • Fig. 8 is a schematic structural diagram of other embodiments of the controller of the present disclosure.
  • the delivery position detection device of the present disclosure includes: a plurality of ranging sensors arranged on the end surface of the raised part of the robot facing the placement area of the delivery, wherein the raised part is located on the chassis of the robot, and the plurality of ranging sensors
  • Each ranging sensor in is configured to detect the distance between each ranging sensor and the end surface of the delivery toward the multiple ranging sensors; the controller is configured to detect the distance detected by each ranging sensor is not greater than the first In the case of a distance threshold, it is determined that the delivery has been located at a predetermined position of the chassis.
  • a plurality of sensors means at least two sensors.
  • the projections of at least two of the plurality of ranging sensors on the chassis do not overlap
  • the projections of each of the plurality of ranging sensors on the chassis do not overlap each other.
  • the distance between the projections of at least two of the plurality of ranging sensors on the chassis is not less than the second distance threshold. Further, the distance between the projections of any two of the plurality of ranging sensors on the chassis is not less than the second distance threshold.
  • the controller is further configured to send an alarm instruction when at least one of the distances detected by each ranging sensor changes during the operation of the robot.
  • Fig. 1 is a schematic structural diagram of some embodiments of a device for detecting delivery in place according to the present disclosure. As shown in FIG. 1, in this embodiment, only two ranging sensors among the plurality of ranging sensors, the first ranging sensor 11, the second ranging sensor 12 and the controller 13 are shown.
  • the first distance measuring sensor 11 and the second distance measuring sensor 12 may be located on the end surface of the protruding part 21 of the robot facing the placement area of the delivery.
  • the robot includes, for example, a protruding member 21 and a chassis 22, and the protruding member 21 is provided on the chassis 22.
  • the end surface of the protruding part 21 facing the placement area of the delivery is perpendicular to the chassis 22.
  • the protruding part 21 may be arranged at the front or rear end of the chassis 22 in the running direction.
  • the protruding part 21 may be a nose protruding with respect to the chassis 22.
  • the delivery item is, for example, a delivery cart.
  • the delivery vehicle may be provided with outriggers and a running device, for example, a universal wheel.
  • the projection of the first ranging sensor 11 on the chassis 22 does not coincide with the projection of the second ranging sensor 12 on the chassis 22.
  • the distance between the projection of the first ranging sensor 11 on the chassis 22 and the projection of the second ranging sensor 12 on the chassis 22 is not less than the second distance threshold.
  • the first distance-measuring sensor 11 and the second distance-measuring sensor 12 are respectively located on the left and right sides of the end surface of the raised part 21 of the robot facing the placement area of the delivery, and the end faces of the delivery and the raised part can be monitored in real time. The distance and angle ensure that the opposite ends of the distribution and the raised parts are parallel to each other.
  • the first distance measuring sensor 11 and the second distance measuring sensor 12 are respectively configured to detect the direction of the first distance measuring sensor 11, the second distance measuring sensor 12 and the end faces of the delivery items toward the plurality of distance measuring sensors. And send the measured distance to the controller 13.
  • the first distance measuring sensor 11 sends the detected first distance to the controller 13
  • the second distance sensor 12 sends the detected second distance to the controller 13.
  • the first distance measuring sensor 11 and the second distance measuring sensor 12 are, for example, infrared distance measuring sensors.
  • the infrared distance measuring sensor can measure the range from 1 to 100 cm.
  • the infrared distance measuring sensor will output the distance between the obstruction and the sensor.
  • the distance measured by the infrared distance measuring sensor will gradually decrease as the delivery vehicle approaches.
  • the first distance measuring sensor 11 outputs the detected first distance as an analog voltage, and the output analog voltage passes through the first voltage follower 41 to increase the driving capability, and the first voltage
  • the voltage signal output by the follower 41 is input to the first operational amplifier 42, and the first operational amplifier 42 amplifies the analog quantity carrying the first distance, and inputs it to the first analog-to-digital converter 43.
  • the first distance measuring sensor 12 outputs the detected second distance as an analog voltage, and the output analog voltage passes through the second voltage follower 44 to increase the driving capability, and the voltage signal output by the second voltage follower 44 is input to the second calculation
  • the amplifier 45 and the second operational amplifier 45 amplify the analog quantity carrying the second distance and input it to the first analog-to-digital converter 43.
  • the first analog-to-digital converter 43 converts analog quantities into digital quantities, and inputs them to the controller 13 through SPI (Serial Peripheral Interface).
  • the controller 13 is configured to determine whether the delivery item has been located at a predetermined position of the chassis 22 of the robot based on the distance detected by each distance measuring sensor.
  • the controller 13 is configured to, in a case where it is determined that the first distance detected by the first distance measuring sensor 11 is not greater than the first distance threshold, and the second distance detected by the second distance measuring sensor 12 is not greater than the first distance threshold, It is determined that the delivery item has been located in the predetermined position of the chassis 22.
  • first distance and the second distance detected by the first distance measuring sensor 11 and the second distance measuring sensor 12 are not greater than 4 cm, it indicates that the delivery item has been located at the predetermined position of the chassis 22. If the distance detected by the first distance measuring sensor 11 is 10 cm, and the distance detected by the second distance measuring sensor 12 is 4 cm, it indicates that the delivery item is tilted or there is other interference, and adjustments should be made in time to make the delivery item reach the predetermined position of the chassis 22.
  • the controller 13 sends an instruction to the lifting mechanism 23 to lift the delivery item. For example, the controller 13 sends an instruction to the motor driver 231 of the jacking mechanism 23 to control the movement of the jacking motor 232, so that the push rod 233 of the jacking mechanism is pushed upward to lift the delivery off the ground.
  • a plurality of ranging sensors are provided, and each ranging sensor detects the direction of each ranging sensor and the delivery of the multiple ranging sensors.
  • the distance of the end surface according to the distance detected by each ranging sensor, determines whether the delivery item has been located at a predetermined position on the chassis of the robot.
  • the delivery arrival detection device of the above embodiment can improve the accuracy of detecting whether the delivery is located at the predetermined position of the robot, and reduce the loss during transportation.
  • the first distance measuring sensor 11 and the second distance measuring sensor 12 respectively send the detected first distance and second distance to the control in real time.
  • the controller 13 indicates that the delivery item is at risk of shaking or falling off.
  • the controller 13 sends an alarm signal in time, which can reduce the loss caused by the delivery item falling off.
  • the delivery in-position detection device further includes a pressure sensor 14, which is arranged on the jacking mechanism 23 and is configured to send the detected pressure information of the jacking mechanism 23 to the controller 13;
  • the controller 13 is also configured to send an instruction to the lifting mechanism 23 to stop lifting the delivery when it is determined that the pressure information is greater than the pressure threshold.
  • the pressure sensor 14 located in the jacking mechanism 23 outputs the pressure of the jacking mechanism in the form of analog voltage, which passes through the third operational amplifier 46 and the second model
  • the digital converter 47 is input to the controller 13, and the controller 13 calculates the pressure of the lifting mechanism.
  • the controller 13 sends a command to the motor driver 231 of the lifting mechanism 23 to control the lifting motor 232 to stop running , And alarm to the host computer.
  • the lifting mechanism when the delivered goods are overweight, the lifting mechanism is stopped, which can prevent overloading and reduce the probability of danger during transportation.
  • the delivery detection device further includes: a first height detection sensor 15 configured to send a first signal to the controller 13 when detecting that the lifting mechanism 23 is raised to a predetermined height ;
  • the controller 13 is also configured to send an instruction to the lifting mechanism 23 to stop lifting the delivery upon receiving the first signal.
  • the robot when the delivery is within the load-bearing range of the robot, when the robot gradually lifts the delivery, it will trigger the first height detection sensor 15 installed in the jacking mechanism to send a switch signal at a certain moment, and the switch signal passes the first height detection sensor 15
  • the comparator 48 compares and inputs it to the controller 13, and the controller 13 knows that the push rod 233 has been raised to the preset position, and sends an instruction to the motor driver 231 to control the jacking motor 232 to stop running.
  • the delivery detection device further includes: a second height detection sensor 16 configured to send a second signal to the controller 13 when detecting that the lifting mechanism 23 is lowered to the initial position; the controller 13 It is also configured to send an instruction to stop descending to the jacking mechanism 23 when the second signal is received.
  • the controller 13 sends instructions to the motor driver 231 to control the operation of the jacking motor 232 to lower the push rod 233.
  • the push rod 233 triggers the output signal of the second height detection sensor 16 at the initial position , The signal is compared by the second comparator 49 and then input to the controller 13.
  • the controller 13 learns that the push rod 233 is lowered to the initial position, and sends an instruction to the motor driver 231 to control the jacking motor 232 to stop running.
  • the first height detection sensor 15 and the second height detection sensor 16 are infrared pairs of tubes.
  • the infrared pair tube includes a light-emitting diode and a photodiode. When there is an obstruction between the light-emitting diode and the photodiode, it will output measurement data.
  • a baffle is set on the push rod, and the infrared pair of tubes are arranged on both sides of the baffle. When the baffle moves to the position of the infrared pair of tubes, the infrared pair of tubes can output measurement data.
  • a robot is protected, and the robot includes the above-mentioned delivery in-position detection device.
  • a delivery device in another embodiment, is protected.
  • the delivery device includes the aforementioned robot and a delivery item, wherein the delivery item and the robot can be separately provided.
  • the delivery is a delivery cart.
  • the delivery device can be used in hospitals and other places.
  • the location of the delivery vehicle can be detected to ensure that the delivery vehicle is located in the appropriate position of the robot.
  • the status of the delivery vehicle can be monitored in real time. Monitoring, to ensure that the delivery vehicle will report to the police in time when it encounters the risk of falling off to reduce losses.
  • FIG. 5 is a schematic flowchart of an embodiment of the method for detecting the delivery of goods in place according to the present disclosure.
  • step 510 the controller receives the distance between each ranging sensor detected by each of the multiple ranging sensors and the end surface of the delivery facing the multiple ranging sensors, wherein the multiple ranging sensors are arranged on the robot The raised part faces the end surface of the delivery area.
  • step 520 the controller determines that the delivery item has been located at a predetermined position on the chassis of the robot in the case that the distance detected by each measurement sensor is not greater than the first distance threshold.
  • a plurality of ranging sensors are provided, and each ranging sensor detects the direction of each ranging sensor and the delivery of the multiple ranging sensors.
  • the distance of the end surface according to the distance detected by each ranging sensor, determines whether the delivery item has been located at a predetermined position on the chassis of the robot.
  • the delivery detection method of the foregoing embodiment can improve the accuracy of detecting whether the delivery is located at the predetermined position of the robot, and reduce the loss during transportation.
  • the following will introduce the solution by taking a plurality of ranging sensors including the first ranging sensor and the second ranging sensor, and the process of the robot transporting the delivery vehicle at one time as an example.
  • the first distance measuring sensor sends the detected first distance between the first distance measuring sensor and the end surface of the delivery facing the first distance measuring sensor to the controller, and the second distance measuring sensor detects the second distance measuring The second distance between the sensor and the end surface of the delivery facing the second distance measuring sensor is sent to the controller.
  • step 620 the controller determines whether the first distance and the second distance are not greater than the first distance threshold, and if yes, execute step 630; otherwise, execute step 631.
  • step 630 the controller sends an instruction to lift the delivery truck to the jacking mechanism. At this time, the delivery vehicle is already at a predetermined position on the chassis of the robot.
  • step 631 the position of the delivery vehicle is adjusted.
  • step 640 the controller receives pressure information detected by the pressure sensor.
  • step 650 the controller determines whether the pressure information is greater than the pressure threshold, and if it is greater, then executes step 660; otherwise, executes step 670.
  • step 660 the controller sends an instruction to stop lifting the delivery vehicle to the lifting mechanism.
  • step 670 when the controller receives the first signal sent by the first height detection sensor, it sends an instruction to the lifting mechanism to stop lifting the delivery vehicle; wherein, the first height detection sensor detects that the lifting mechanism is raised to a predetermined height. When, send the first signal to the controller.
  • step 680 the controller sends a running instruction to the robot.
  • the robot transports the delivery vehicle according to the preset route.
  • step 690 the controller determines in real time whether the first distance or the second distance has changed. If so, step 6100 is executed; otherwise, step 690 is continued.
  • step 6100 the controller sends an alarm message to adjust the position of the delivery vehicle in time.
  • step 6110 the controller detects that the robot has reached the destination, and sends a stop operation instruction to the robot.
  • step 6120 the controller sends a descending instruction to the jacking mechanism.
  • step 6130 when the controller receives the second signal sent by the second height detection sensor, it sends an instruction to the lifting mechanism to stop the descent; wherein, when the second height detection sensor detects that the lifting mechanism has dropped to the initial position, it sends The controller sends a second signal. At this time, the lifting mechanism stops moving.
  • multiple sensors are installed on the robot to detect the relative position of the delivery vehicle and the robot in real time. After ensuring that the delivery vehicle accurately reaches the predetermined position of the robot, the delivery vehicle is lifted and the delivery vehicle is transported to the destination. Since the status of the vehicle can be monitored in real time, the risk of the delivery vehicle falling off during transportation can be reduced.
  • Fig. 7 is a schematic structural diagram of an embodiment of a controller of the present disclosure.
  • the controller includes a memory 710 and a processor 720, where the memory 710 may be a magnetic disk, flash memory or any other non-volatile storage medium.
  • the memory is used to store instructions in the embodiments corresponding to FIGS. 5 and 6.
  • the processor 720 is coupled to the memory 710 and can be implemented as one or more integrated circuits, such as a microprocessor or a microcontroller.
  • the processor 720 is configured to execute instructions stored in the memory.
  • the controller 800 includes a memory 810 and a processor 820.
  • the processor 820 is coupled to the memory 810 through the BUS bus 830.
  • the controller 800 can also be connected to an external storage device 850 through the storage interface 840 to call external data, and can also be connected to a network or another computer system (not shown) through the network interface 860, which will not be described in detail here.
  • storing data instructions through the memory and processing the above instructions through the processor can improve the accuracy of detecting whether the delivery is located at the predetermined position of the robot and reduce the loss during transportation.
  • a computer-readable storage medium has computer program instructions stored thereon, and when the instructions are executed by a processor, the steps of the method in the embodiments corresponding to FIGS. 5 and 6 are implemented.
  • the embodiments of the present disclosure can be provided as a method, a system, or a computer program product. Therefore, the present disclosure may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware.
  • the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes. .
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps configured to implement functions specified in a flow or multiple flows in the flowchart and/or a block or multiple blocks in the block diagram.

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Abstract

一种配送物到位检测装置、方法、机器人、配送装置和控制器，涉及物流领域；该装置包括：多个测距传感器，设置在机器人的凸起部件（21）的面向配送物的放置区的端面上，其中，凸起部件（21）位于机器人的底盘（22）上，多个测距传感器中的每个测距传感器被配置为检测每个测距传感器与配送物的朝向多个测距传感器的端面的距离；控制器（13），被配置为根据在每个测距传感器检测的距离不大于第一距离阈值的情况下，确定配送物已位于底盘（22）的预定位置；该配送物到位检测装置能够提高检测配送物是否位于机器人预定位置的精度，减少运输过程中的损失。

Description

配送物到位检测装置、方法、机器人、配送设备和控制器
相关申请的交叉引用
本申请是以CN申请号为201910881295.0，申请日为2019年9月18日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及机器人领域，尤其涉及一种配送物到位检测装置、方法、机器人、配送装置和控制器。
背景技术
医院配送机器人目前普遍采用两种方式，一种方式是配送车与机器人一体化设计，两者不可分离；第二种方式是配送车与机器人可以分离设置。可分离的设计可以提高配送车的使用效率，而且配送不同物品可以采用不同的配送车，使用更加灵活。
相关技术中，机器人运行到配送车下方，或者由工作人员将配送车推动到机器人上方，然后由机器人运载配送车前进。但因机器人定位精度或人员操作，可能会存在配送车未能到达机器人的预定位置的情况，从而在运输过程中，发生配送车脱离的风险。
发明内容
本公开要解决的一个技术问题是，提供一种配送物到位检测装置、方法、机器人、配送装置和控制器，能够提高检测配送物是否位于机器人预定位置的精度。
根据本公开一方面，提出一种配送物到位检测装置，包括：多个测距传感器，设置在机器人的凸起部件的面向配送物的放置区的端面上，其中，所述凸起部件位于所述机器人的底盘上，所述多个测距传感器中的每个测距传感器被配置为检测所述每个测距传感器与所述配送物的朝向所述多个测距传感器的端面的距离；控制器，被配置为根据在每个测距传感器检测的所述距离不大于第一距离阈值的情况下，确定所述配送物已位于所述底盘的预定位置。
在一些实施例中，所述多个测距传感器中的每个测距传感器在所述底盘的投影互不重叠。
在一些实施例中，所述多个测距传感器中的至少两个测距传感器在所述底盘的投影不重叠。
在一些实施例中，所述多个测距传感器中至少两个测距传感器在所述底盘的投影之间的距离不小于第二距离阈值。
在一些实施例中，所述控制器还被配置为在所述机器人运行过程中，在每个测距传感器检测的所述距离中至少一项变动的情况下，发送报警指令。
在一些实施例中，压力传感器，设置在机器人的顶升机构上，被配置为将检测到的顶升机构所承受的压力信息发送至控制器；控制器还被配置为在确定压力信息大于压力阈值时，向顶升机构发送停止起升配送物的指令。
在一些实施例中，所述控制器还被配置为在所述配送物已位于所述机器人的底盘的预定位置的情况下，则向顶升机构发送起升所述配送物的指令。
在一些实施例中，第一高度检测传感器，被配置为在检测到所述顶升机构起升至预定高度时，向所述控制器发送第一信号；所述控制器还被配置为在接收到所述第一信号时，向所述顶升机构发送停止起升所述配送物的指令。
在一些实施例中，第二高度检测传感器，被配置为在检测到所述顶升机构下降至初始位置时，向所述控制器发送第二信号；所述控制器还被配置为在接收到所述第二信号时，向所述顶升机构发送停止下降的指令。
在一些实施例中，第一高度检测传感器和第二高度检测传感器为红外对管。
根据本公开的另一方面，还提出一种机器人，包括前述任意实施例的配送物到位检测装置。
根据本公开的另一方面，还提出一种配送装置，包括：前述任意实施例的机器人；以及配送车；其中，所述配送车与所述机器人可分离设置。
根据本公开的另一方面，还提出一种配送物到位检测方法，包括：接收多个测距传感器中每个测距传感器检测的所述每个测距传感器与所述配送物的朝向所述多个测距传感器的端面的距离，其中，所述多个测距传感器设置在机器人的凸起部件面向配送物的放置区的端面上；在每个测量传感器检测的所述距离不大于第一距离阈值的情况下，确定所述配送物已位于所述机器人的底盘的预定位置。
在一些实施例中，在所述机器人运行过程中，在每个测距传感器检测的所述距离中至少一项变动的情况下，发送报警指令。
在一些实施例中，接收压力传感器检测的压力信息，其中，压力传感器设置在机 器人的顶升机构上，检测顶升机构所承受的压力信息；在确定压力信息大于压力阈值时，向顶升机构发送停止起升配送物的指令。
在一些实施例中，在所述配送物已位于所述机器人的底盘的预定位置的情况下，则向所述机器人的顶升机构发送起升所述配送物的指令。
在一些实施例中，在接收到第一高度检测传感器发送的第一信号的情况下，向所述顶升机构发送停止起升所述配送物的指令；其中，所述第一信号表示所述顶升机构起升至预定高度。
在一些实施例中，在接收到第二高度检测传感器发送的第二信号的情况下，向所述顶升机构发送停止下降的指令；其中，所述第二信号表示所述顶升机构下降至初始位置。
根据本公开的另一方面，还提出一种控制器，包括：处理器；以及耦接至所述处理器的存储器，用于存储指令，所述指令被所述处理器执行时，使所述处理器执行如前述任意实施例所述的配送物到位检测方法。
根据本公开的另一方面，还提出一种非瞬时性计算机可读存储介质，其上存储有计算机程序，其中，该程序被处理器执行时实现任意实施例所述的配送物到位检测方法的步骤。
在本公开实施例中，在机器人的凸起部件的面向配送物的端面上，设置多个测距传感器，每个测距传感器来检测每个测距传感器与配送物的朝向多个测距传感器的端面的距离，根据每个测距传感器检测的距离，确定配送物是否已位于机器人的底盘的预定位置。本公开实施例的配送物到位检测装置能够提高检测配送物是否位于机器人预定位置的精度，减少运输过程中的损失。
通过以下参照附图对本公开的示例性实施例的详细描述，本公开的其它特征及其优点将会变得清楚。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本申请的一部分，本公开的示意性实施例及其说明被配置为解释本公开，并不构成对本公开的不当限定。在附图中：
图1为本公开配送物到位检测装置的一些实施例的结构示意图。
图2为本公开配送物到位检测装置的另一些实施例的结构示意图。
图3为本公开配送物到位检测装置的又一些实施例的结构示意图。
图4为本公开配送物到位检测装置的再一些实施例的结构示意图。
图5为本公开配送物到位检测方法的一些实施例的流程示意图。
图6为本公开配送物到位检测方法的另一些实施例的流程示意图。
图7为本公开控制器的一些实施例的结构示意图。
图8为本公开控制器的另一些实施例的结构示意图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开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公开一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。基于本公开中的实施例，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，都属于本公开保护的范围。
本公开的配送物到位检测装置包括：多个测距传感器，设置在机器人的凸起部件的面向配送物的放置区的端面上，其中，凸起部件位于机器人的底盘上，多个测距传感器中的每个测距传感器被配置为检测每个测距传感器与配送物的朝向多个测距传感器的端面的距离；控制器，被配置为根据在每个测距传感器检测的距离不大于第一距离阈值的情况下，确定配送物已位于底盘的预定位置。多个传感器表示至少两个传感器。
在一些实施例中，多个测距传感器中的至少两个测距传感器在底盘的投影不重叠
在一些实施例中，多个测距传感器中的每个测距传感器在底盘的投影互不重叠。
在一些实施例中，多个测距传感器中至少两个测距传感器在底盘的投影之间的距离不小于第二距离阈值。进一步，多个测距传感器中任意两个测距传感器在底盘的投影之间的距离不小于第二距离阈值。
在一些实施例中，控制器还被配置为在机器人运行过程中，在每个测距传感器检测的距离中至少一项变动的情况下，发送报警指令。
图1为本公开配送物到位检测装置的一些实施例的结构示意图。如图1所示，该实施例中仅显示出多个测距传感器中的两个测距传感器，第一测距传感器11、第二测距传感器12和控制器13。
如图2和图3所示，第一测距传感器11、第二测距传感器12可以位于机器人的 凸起部件21的面向配送物的放置区的端面上。机器人例如包括凸起部件21和底盘22，凸起部件21设置在底盘22上。在一些实施例中，凸起部件21的面向配送物的放置区的端面与底盘22垂直设置。该凸起部件21可以设置在该底盘22的沿运行方向的前端或后端。凸起部件21可以为相对于底盘22凸起的车头。
在一些实施例中，配送物例如为配送车。该配送车可以设置有支腿和运行装置，运行装置例如为万向轮。
在一些实施例中，第一测距传感器11在底盘22的投影，与第二测距传感器12在底盘22的投影不重合。
在一些实施例中，第一测距传感器11在底盘22的投影，与第二测距传感器12在底盘22的投影之间的距离不小于第二距离阈值。例如，第一测距传感器11、第二测距传感器12分别位于在机器人的凸起部件21的面向配送物的放置区的端面的左右两侧，可实时监控配送物与凸起部件相对的端面的距离和角度，确保配送物与凸起部件相对的端面互相平行。
在一些实施例中，第一测距传感器11、第二测距传感器12分别被配置为检测第一测距传感器11、第二测距传感器12与配送物的朝向多个测距传感器的端面的距离，并将测得的距离发送至控制器13。例如，第一测距传感器11将检测到的第一距离发送至控制器13，第二距离传感器12将检测到的第二距离发送至控制器13。
在一些实施例中，第一测距传感器11、第二测距传感器12例如为红外测距传感器。例如，红外测距传感器可测量程为1～100cm，当前面有遮挡物时，红外测距传感器会输出遮挡物到传感器的距离。当配送车朝向红外传感器的端面靠近到机器人的凸起部件21时，红外测距传感器测出的距离会随着配送车的靠近的距离而逐渐减小。
在一些实施例中，如图4所示，第一测距传感器11将检测的第一距离以模拟电压量输出，输出的模拟电压量经过第一电压跟随器41增大驱动能力，第一电压跟随器41输出的电压信号输入至第一运算放大器42，第一运算放大器42将携带第一距离的模拟量放大处理，并输入至第一模数转换器43。第一测距传感器12将检测的第二距离以模拟电压量输出，输出的模拟电压量经过第二电压跟随器44增大驱动能力，第二电压跟随器44输出的电压信号输入至第二运算放大器45，第二运算放大器45将携带第二距离的模拟量放大处理，并输入至第一模数转换器43。第一模数转换器43将模拟量转换为数字量，并通过SPI(Serial Peripheral Interface，串行外设接口)输入至控制器13。
控制器13被配置为根据每个测距传感器检测的距离，确定配送物是否已位于机器人的底盘22的预定位置。
例如，控制器13被配置为在确定第一测距传感器11检测的第一距离不大于第一距离阈值，且第二测距传感器12检测的第二距离不大于第一距离阈值的情况下，确定配送物已位于底盘22的预定位置。
例如，在第一测距传感器11和第二测距传感器12检测的第一距离和第二距离都不大于4cm时，说明配送物已位于底盘22的预定位置。若第一测距传感器11检测的距离为10cm，第二测距传感器12检测的距离为4cm，则说明配送物倾斜或有其他干扰，应及时进行调整，使得配送物到达底盘22的预定位置。
在一些实施例中，若配送物已位于机器人的底盘22的预定位置，控制器13则向顶升机构23发送起升配送物的指令。例如，控制器13向顶升机构23的电机驱动器231发送指令，控制顶升电机232运动，从而顶升机构的推杆233向上推出，将配送物抬离地面。
在上述实施例中，在机器人的凸起部件的面向配送物的端面上，设置多个测距传感器，每个测距传感器来检测每个测距传感器与配送物的朝向多个测距传感器的端面的距离，根据每个测距传感器检测的距离，确定配送物是否已位于机器人的底盘的预定位置。上述实施例的配送物到位检测装置能够提高检测配送物是否位于机器人预定位置的精度，减少运输过程中的损失。
在本公开的另一个实施例中，在机器人按照预设路径运输配送物过程中，第一测距传感器11和第二测距传感器12分别实时将检测的第一距离和第二距离发送至控制器13，在第一距离改变或第二距离改变时，说明配送物有晃动或脱落风险，控制器13及时发出报警信号，能够减少配送物脱落造成的损失。
在本公开的另一些实施例中，该配送物到位检测装置还包括压力传感器14，设置在顶升机构23上，被配置为将检测到的顶升机构23所承受的压力信息发送至控制器13；控制器13还被配置为在确定压力信息大于压力阈值时，向顶升机构23发送停止起升配送物的指令。
例如，在顶升机构23升起的过程中，位于顶升机构23的压力传感器14将顶升机构承受的压力以模拟电压量的形式输出，模拟电压量经过第三运算放大器46和第二模数转换器47输入至控制器13，控制器13解算出顶升机构承受的压力，当配送物超重时，控制器13向顶升机构23的电机驱动器231发送指令，控制顶升电机232停 止运转，并向上位机报警。
在上述实施例中，在配送物超重时，停止顶升机构运动，能够防止超载载货，减少运输过程中出现危险的概率。
在本公开的另一些实施例中，该配送物到位检测装置还包括：第一高度检测传感器15，被配置为在检测到顶升机构23起升至预定高度时，向控制器13发送第一信号；控制器13还被配置为在接收到第一信号时，向顶升机构23发送停止起升配送物的指令。例如，在配送物在机器人的承重范围内，机器人将配送物逐渐抬起时，会在某一刻触发安装在顶升机构内的第一高度检测传感器15发出开关量信号，开关量信号通过第一比较器48比较后输入至控制器13，控制器13获知推杆233已升至预设位置，则向电机驱动器231发送指令，控制顶升电机232停止运转。
在另一些实施例中，该配送物到位检测装置还包括：第二高度检测传感器16，被配置为在检测到顶升机构23下降至初始位置时，向控制器13发送第二信号；控制器13还被配置为在接收到第二信号时，向顶升机构23发送停止下降的指令。例如，在机器人到达目的地后，控制器13向电机驱动器231发送指令，控制顶升电机232运转以使推杆233下降，当推杆233触发初始位置所在的第二高度检测传感器16输出信号时，信号通过第二比较器49比较后输入至控制器13，控制器13获知推杆233下降至初始位置，向电机驱动器231发送指令，控制顶升电机232停止运转。
在一些实施例中，第一高度检测传感器15和第二高度检测传感器16为红外对管。红外对管包括发光二极管和光敏二极管，当发光二极管与光敏二极管之间有遮挡物时会输出测量数据。例如，在推杆上设置挡片，将红外对管设置在挡片两侧，在挡片运动到红外对管位置时，红外对管能够输出测量数据。
在上述实施例中，通过设置第一高度检测传感器和第二高度检测传感器，能够防止顶升机构起升太高以及下降太多。
在本公开的另一个实施例中，保护一种机器人，该机器人包括上述的配送物到位检测装置。
在本公开的另一个实施例中，保护一种配送装置，该配送装置包括上述的机器人和配送物，其中，配送物与机器人可分离设置。在一些实施例中，该配送物为配送车。
将该配送装置应用在医院等场所，机器人搭载配送车过程中，可以实现对配送车的位置检测，确保配送车位于机器人的合适的位置，并且，在运输过程中，实时对配送车的状态进行监测，确保配送车遇到脱落风险时及时报警，减少损失。
图5为本公开配送物到位检测方法的一个实施例的流程示意图。
在步骤510，控制器接收多个测距传感器中每个测距传感器检测的每个测距传感器与配送物的朝向多个测距传感器的端面的距离，其中，多个测距传感器设置在机器人的凸起部件面向配送物的放置区的端面上。
在步骤520，控制器在每个测量传感器检测的距离不大于第一距离阈值的情况下，确定配送物已位于机器人的底盘的预定位置。
在上述实施例中，在机器人的凸起部件的面向配送物的端面上，设置多个测距传感器，每个测距传感器来检测每个测距传感器与配送物的朝向多个测距传感器的端面的距离，根据每个测距传感器检测的距离，确定配送物是否已位于机器人的底盘的预定位置。上述实施例的配送物到位检测方法能够提高检测配送物是否位于机器人预定位置的精度，减少运输过程中的损失。
如图6所示，下面将以多个测距传感器包括第一测距传感器和第二测距传感器，以及机器人一次运送配送车的过程为例对本方案进行介绍。
在步骤610，第一测距传感器将检测的第一测距传感器与配送物的朝向第一测距传感器的端面的第一距离发送至控制器，第二测距传感器将检测的第二测距传感器与配送物的朝向第二测距传感器的端面的第二距离发送至控制器。
在步骤620，控制器判断第一距离和第二距离是否都不大于第一距离阈值，若是，则执行步骤630，否则，执行步骤631。
在步骤630，控制器向顶升机构发送起升配送车的指令。此时，配送车已位于机器人的底盘的预定位置。
在步骤631，调整配送车的位置。
在步骤640，控制器接收压力传感器检测的压力信息。
在步骤650，控制器判断压力信息是否大于压力阈值，若大于，则执行步骤660，否则，执行步骤670。
在步骤660，控制器向顶升机构发送停止起升配送车的指令。
在步骤670，控制器接收到第一高度检测传感器发送的第一信号时，向顶升机构发送停止起升配送车的指令；其中，第一高度检测传感器在检测到顶升机构起升至预定高度时，向控制器发送第一信号。
在步骤680，控制器向机器人发送运行指令。机器人按照预设路径运输配送车。
在步骤690，控制器实时判断第一距离或第二距离是否改变，若是，则执行步骤 6100，否则，继续执行步骤690。
在步骤6100，控制器发送报警信息，以便及时调整配送车的位置。
在步骤6110，控制器检测到机器人已运行到目的地，则向机器人发送停止运行指令。
在步骤6120，控制器向顶升机构发送下降指令。
在步骤6130，控制器在接收到第二高度检测传感器发送的第二信号时，向顶升机构发送停止下降的指令；其中，第二高度检测传感器在检测到顶升机构下降至初始位置时，向控制器发送第二信号。此时，顶升机构停止运动。
在该实施例中，通过在机器人上设置多个传感器，实时检测配送车与机器人的相对位置，在确保配送车准确到达机器人的预定位置后，抬升配送车，并将配送车运输到目的地，由于能够实时监控到车辆状态，能够减少运输过程中发生配送车脱落的风险。
图7为本公开控制器的一个实施例的结构示意图。该控制器包括：存储器710和处理器720，其中：存储器710可以是磁盘、闪存或其它任何非易失性存储介质。存储器用于存储图5、6所对应实施例中的指令。处理器720耦接至存储器710，可以作为一个或多个集成电路来实施，例如微处理器或微控制器。该处理器720用于执行存储器中存储的指令。
在一些实施例中，还可以如图8所示，该控制器800包括存储器810和处理器820。处理器820通过BUS总线830耦合至存储器810。该控制器800还可以通过存储接口840连接至外部存储装置850以便调用外部数据，还可以通过网络接口860连接至网络或者另外一台计算机系统(未标出)，此处不再进行详细介绍。
在该实施例中，通过存储器存储数据指令，再通过处理器处理上述指令，能够提高检测配送物是否位于机器人预定位置的精度，减少运输过程中的损失。
在另一些实施例中，一种计算机可读存储介质，其上存储有计算机程序指令，该指令被处理器执行时实现图5、6所对应实施例中的方法的步骤。本领域内的技术人员应当明白，本公开的实施例可提供为方法、系统、或计算机程序产品。因此，本公开可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用非瞬时性存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本公开是参照根据本公开实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解为可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生被配置为实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供被配置为实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
以上所述仅为本公开的较佳实施例，并不用以限制本公开，凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。

Claims (20)

  1. 一种配送物到位检测装置，包括：
    多个测距传感器，设置在机器人的凸起部件的面向配送物的放置区的端面上，其中，所述凸起部件位于所述机器人的底盘上，所述多个测距传感器中的每个测距传感器被配置为检测所述每个测距传感器与所述配送物的朝向所述多个测距传感器的端面的距离；
    控制器，被配置为根据在每个测距传感器检测的所述距离不大于第一距离阈值的情况下，确定所述配送物已位于所述底盘的预定位置。
  2. 根据权利要求1所述的配送物到位检测装置，其中，
    所述多个测距传感器中的至少两个测距传感器在所述底盘的投影不重叠。
  3. 根据权利要求1所述的配送物到位检测装置，其中，
    所述多个测距传感器中的每个测距传感器在所述底盘的投影互不重叠。
  4. 根据权利要求1所述的配送物到位检测装置，其中，
    所述多个测距传感器中至少两个测距传感器在所述底盘的投影之间的距离不小于第二距离阈值。
  5. 根据权利要求1所述的配送物到位检测装置，其中，
    所述控制器还被配置为在所述机器人运行过程中，在每个测距传感器检测的所述距离中至少一项变动的情况下，发送报警指令。
  6. 根据权利要求1所述的配送物到位检测装置，还包括：
    压力传感器，设置在所述机器人的顶升机构上，被配置为将检测到的所述顶升机构所承受的压力信息发送至所述控制器；
    所述控制器还被配置为在确定所述压力信息大于压力阈值时，向所述顶升机构发送停止起升所述配送物的指令。
  7. 根据权利要求1-6任一所述的配送物到位检测装置，其中，
    所述控制器还被配置为在所述配送物已位于所述机器人的底盘的预定位置的情况下，则向顶升机构发送起升所述配送物的指令。
  8. 根据权利要求7所述的配送物到位检测装置，还包括：
    第一高度检测传感器，被配置为在检测到所述顶升机构起升至预定高度时，向所述控制器发送第一信号；
    所述控制器还被配置为在接收到所述第一信号时，向所述顶升机构发送停止起升所述配送物的指令。
  9. 根据权利要求8所述的配送物到位检测装置，还包括：
    第二高度检测传感器，被配置为在检测到所述顶升机构下降至初始位置时，向所述控制器发送第二信号；
    所述控制器还被配置为在接收到所述第二信号时，向所述顶升机构发送停止下降的指令。
  10. 根据权利要求9所述的配送物到位检测装置，其中，
    所述第一高度检测传感器和所述第二高度检测传感器为红外对管。
  11. 一种机器人，包括权利要求1-10任一所述的配送物到位检测装置。
  12. 一种配送装置，包括：
    权利要求11所述的机器人；以及
    配送车；其中，所述配送车与所述机器人可分离设置。
  13. 一种配送物到位检测方法，包括：
    接收多个测距传感器中每个测距传感器检测的所述每个测距传感器与所述配送物的朝向所述多个测距传感器的端面的距离，其中，所述多个测距传感器设置在机器人的凸起部件面向配送物的放置区的端面上；
    在每个测量传感器检测的所述距离不大于第一距离阈值的情况下，确定所述配送 物已位于所述机器人的底盘的预定位置。
  14. 根据权利要求13所述的配送物到位检测方法，还包括：
    在所述机器人运行过程中，在每个测距传感器检测的所述距离中至少一项变动的情况下，发送报警指令。
  15. 根据权利要求13所述的配送物到位检测方法，还包括：
    接收压力传感器检测的压力信息，其中，所述压力信息为所述机器人的顶升机构所承受的压力信息；
    在确定所述压力信息大于压力阈值的情况下，向所述顶升机构发送停止起升所述配送物的指令。
  16. 根据权利要求13-15任一所述的配送物到位检测方法，还包括：
    在所述配送物已位于所述机器人的底盘的预定位置的情况下，则向所述机器人的顶升机构发送起升所述配送物的指令。
  17. 根据权利要求16所述的配送物到位检测方法，还包括：
    在接收到第一高度检测传感器发送的第一信号的情况下，向所述顶升机构发送停止起升所述配送物的指令；
    其中，所述第一信号表示所述顶升机构起升至预定高度。
  18. 根据权利要求17所述的配送物到位检测方法，还包括：
    在接收到第二高度检测传感器发送的第二信号的情况下，向所述顶升机构发送停止下降的指令；
    其中，所述第二信号表示所述顶升机构下降至初始位置。
  19. 一种控制器，包括：
    处理器；以及
    耦接至所述处理器的存储器，用于存储指令，所述指令被所述处理器执行时，使所述处理器执行如权利要求13-18任一项所述的配送物到位检测方法。
  20. 一种非瞬时性计算机可读存储介质，其上存储有计算机程序，其中，该程序被处理器执行时实现权利要求13-18任一项所述的配送物到位检测方法的步骤。
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