Robot and robot-based material box detection method

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.