A method and apparatus for carrying cargo

Abstract

The present specification provides a method and device for carrying goods, which are applied to a carrying robot, the carrying robot comprising a body and at least one lifting assembly; the method comprises: after moving to a first loading position where a first goods is located, driving the lifting assembly to extend from the body so as to move to the bottom of the first goods, and driving the lifting assembly to rise so as to carry the first goods; and driving the lifting assembly to relatively move with the body so as to retract the lifting assembly into the body, and driving the lifting assembly to fall so as to carry the first goods by the body; after reaching a second loading position where a second goods is located, driving the lifting assembly to extend from the body so as to move to the bottom of the second goods, and driving the lifting assembly to rise so as to carry the second goods; and transporting the first goods and the second goods to corresponding unloading positions.

Description

TECHNICAL FIELD

[0001] The present specification relates to the field of mobile robots, and in particular, to a method and device for carrying goods. BACKGROUND

[0002] With the development of information technology and industrial automation technology, various kinds of carrying robots have begun to participate in the field of industrial carrying to replace humans to complete the carrying work of goods in various shapes and states, thereby reducing the heavy physical labor of humans. However, in the face of the increasing amount of goods carrying, the traditional carrying robots are difficult to ensure timely completion of carrying goods, resulting in the user having to increase the number of carrying robots or update to carrying robots with higher carrying efficiency, thereby increasing unnecessary equipment costs. Therefore, how to ensure the carrying efficiency without changing the number or model of the above-mentioned carrying robots has become a difficult problem that needs to be overcome by major manufacturers. SUMMARY

[0003] Therefore, the present specification provides a method and device for carrying goods to solve the problems in the related art.

[0004] Specifically, the present specification is implemented by the following technical solutions:

[0005] According to a first aspect of an embodiment of the present specification, a method for carrying goods is provided, applied to a carrying robot, the carrying robot comprising a body and at least one lifting assembly; the method comprising:

[0006] After moving to a first loading position where a first goods is located, driving the lifting assembly to extend from the body so that the lifting assembly moves to the bottom of the first goods, and driving the lifting assembly to rise to carry the first goods; and driving the lifting assembly to move relative to the body so that the lifting assembly is retracted into the body, and driving the lifting assembly to fall so that the body carries the first goods;

[0007] After reaching a second loading position where a second goods is located, driving the lifting assembly to extend from the body so that the lifting assembly moves to the bottom of the second goods, and driving the lifting assembly to rise to carry the second goods;

[0008] Transporting the first goods and the second goods to corresponding unloading positions.

[0009] According to a second aspect of an embodiment of the present specification, a device for carrying goods is provided, applied to a carrying robot, the carrying robot comprising a body and at least one lifting assembly; the device comprising:

[0010] The first loading unit is configured to, after moving to a first loading position where the first cargo is located, drive the lifting assembly to extend out of the body so as to move the lifting assembly to the bottom of the first cargo, drive the lifting assembly to rise so as to carry the first cargo, and drive the lifting assembly to relatively move with the body so as to retract the lifting assembly into the body, and drive the lifting assembly to fall down so as to carry the first cargo by the body;

[0011] The second loading unit is configured to, after arriving at a second loading position where the second cargo is located, drive the lifting assembly to extend out of the body so as to move the lifting assembly to the bottom of the second cargo, and drive the lifting assembly to rise so as to carry the second cargo.

[0012] The unloading unit is configured to transport the first cargo and the second cargo to corresponding unloading positions.

[0013] According to a third aspect of the embodiments of the present specification, a computer readable storage medium is provided, which stores a computer program, and the program is executed by a processor to implement the steps of the method according to the first aspect.

[0014] According to a fourth aspect of the embodiments of the present specification, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method according to the first aspect when executing the program.

[0015] In the technical solutions provided in the present specification, compared with the related art in which only the body of the carrying robot is used to carry the cargo, the carrying robot of the present application uses both the body and the lifting assembly to carry the cargo, so that the body carries the first cargo while the lifting assembly continues to carry the second cargo, achieving the effect of carrying multiple cargos at the same time by the carrying robot, improving the single carrying capacity of the carrying robot, reducing the overall carrying times, and further ensuring the overall carrying efficiency.

[0016] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present specification. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present specification or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the present specification, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0018] Figure 1is a schematic structural diagram of a carrying robot according to an example embodiment of the present specification;

[0019] Figure 2 is a flowchart of a method of carrying goods according to an example embodiment of the present specification;

[0020] Figure 3 is a schematic structural diagram of a sensor provided to a carrying robot according to an example embodiment of the present specification;

[0021] Figures 4a-4d is a schematic diagram of a carrying robot carrying a first good and a second good according to an example embodiment of the present specification;

[0022] Figure 5 is a schematic structural diagram of an electronic device according to an example embodiment of the present specification;

[0023] Figure 6 is a schematic structural diagram of a device for carrying goods according to an example embodiment of the present specification. DETAILED DESCRIPTION

[0024] The example embodiments will be described in detail below with reference to the attached drawings. In the following description, the same numbers are used to designate the same elements, unless otherwise indicated. The embodiments described in the following example embodiments are not representative of all embodiments consistent with the present specification. Rather, they are merely examples of devices and methods consistent with some aspects of the present specification.

[0025] The terminology used in the present specification is for the purpose of describing particular embodiments only and is not intended to limit the present specification. As used in the present specification, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "and / or," as used herein, refer to and encompass any or all possible combinations of one or more of the associated listed items.

[0026] It will be understood that, although the terms first, second, third, etc. can be used herein to describe various information, these terms are not intended to denote a temporal or chronological order. Rather, these terms are used merely as labels to identify particular information. For example, a first information can be termed a second information, and similarly, a second information can be termed a first information, without departing from the scope of the present specification. Depending on the context, the word "if' as used herein can be interpreted as meaning "when" or "in response to determining."

[0027] Figure 1 is a schematic structural diagram of a carrying robot according to an example embodiment of the present specification. As shown inFigure 1 As shown, the carrying robot can include a body 11 and a lifting assembly 12.

[0028] The platform at the top of the body 11 can be used to carry goods, the driving wheels at the bottom can be used to drive the body 11 to move, and at least one containing groove is arranged inside, each containing groove can contain a lifting assembly in a retracted state (such as the lifting assembly 12a or 12b in FIG. 1). During the operation of the above carrying robot, the body 11 can be moved to the corresponding loading position, and the corresponding goods can be loaded by cooperating with the lifting assembly, so as to ensure the normal operation of the subsequent unloading operation.

[0029] The lifting assembly 12 includes a mechanical structure supporting lifting, wherein the lifting assembly in the lowered state has a low height, which can be used to flexibly enter the gap between the bottom of the goods and the ground; and the lifting assembly in the raised state has a height greater than the body 11, which can be used to carry the goods and transfer the carried goods to the platform at the top of the body 11. In this specification, the method of driving the lifting assembly is not limited, and the lifting assembly can change the lifting state based on hydraulic, electric, etc.

[0030] A connection module such as a slide rail assembly can be arranged between the above-mentioned body 11 and the above-mentioned lifting assembly 12, so that the above-mentioned lifting assembly 12 can be extended out of the body 11 from the corresponding containing groove of the body 11, or can be retracted into the corresponding containing groove of the body 11 from outside the body 11. During the operation of the above carrying robot, if the lifting assembly 12 is in the extended state, the loading and unloading of the goods on the carrying robot can be realized by changing the lifting state of the lifting assembly 12, and if the lifting assembly 12 is in the retracted state, the transfer of the goods on the body 11 and the lifting assembly 12 can be realized by changing the lifting state of the lifting assembly 12.

[0031] Figure 2 is a flowchart of a method for carrying goods according to an exemplary embodiment of the present specification. As shown, the method is applied to a carrying robot, and the carrying robot includes a body and at least one lifting assembly, and the method includes: Figure 2

[0032] S201, after moving to the first loading position of the first goods, driving the lifting assembly to extend from the body so that the lifting assembly moves to the bottom of the first goods, and driving the lifting assembly to rise to carry the first goods; and driving the lifting assembly and the body to move relatively to make the lifting assembly retract into the body, and driving the lifting assembly to fall to make the body carry the first goods.

[0033] ​When the carrying robot needs to load the first cargo at the first loading position, the body can be driven to move to the first loading position, and the corresponding lifting assembly can be driven to extend from the body to move to the bottom of the first cargo. At this time, the first cargo can be lifted off the ground by the lifting operation of the lifting assembly, i.e., the first cargo is carried by the lifting assembly. In order to load the second cargo described below, the first cargo carried by the lifting assembly needs to be handed over to the body, so the lifting assembly can be driven to move relative to the body so that the lifting assembly is retracted into the corresponding accommodation slot of the body. Of course, at this time, the lifting assembly still carries the first cargo, and the lifting assembly can be driven to fall down so that the first cargo contacts the platform on the top of the body, and then the body carries the first cargo.

[0034] As can be understood by those skilled in the art, since the body and the lifting assembly of the carrying robot can form a structure similar to a forklift, unlike the carrying mode of the conventional carrying robot, which needs to move the body to the bottom of the cargo to lift the cargo, the carrying robot in the present specification only needs to drive the lifting assembly into the bottom of the cargo to lift the cargo, thereby making the carrying robot applicable to carry the cargo with a lower bottom height, and improving the range of the carried cargo. In other words, since the body does not need to actually enter the bottom of the cargo, the first loading position and the second loading position described below can actually represent the vicinity of the actual geographical position of the corresponding cargo. For the second case, the specific range of "vicinity" depends on factors such as the volume, floor area of the body and the lifting assembly, or the maximum extension range of the lifting assembly. For example, the larger the floor area of the body and the lifting assembly, the farther the first loading position can be from the first cargo.

[0035] In addition, the carrying robot of the present specification can avoid the problem that the actual storage position of the cargo deviates from the expected position, causing the carrying robot to fail to successfully carry the cargo during actual execution.

[0036] In an embodiment, the carrying robot is provided with a cargo pose detection sensor. In the case that the cargo pose detection sensor indicates that the lifting assembly does not correctly reach the bottom of the first cargo or the second cargo below, the body and / or the lifting assembly is driven to move so that the lifting assembly correctly reaches the bottom of the first cargo or the second cargo. The cargo pose detection sensor can determine the relative position between the actual cargo and the lifting assembly based on image recognition, electromagnetic induction, etc., which is not limited in the present specification. In addition, the standard for determining whether the lifting assembly correctly reaches the bottom of the cargo can be determined by the default rules of the carrying robot or the rules customized by the user, for example, in the case that the center of the bottom of the cargo coincides with the center of the lifting assembly, or the lifting assembly covers a certain part of the bottom of the cargo, it is determined that the lifting assembly correctly reaches the bottom of the cargo. Therefore, the cargo pose detection sensor can effectively improve the success rate of the carrying robot carrying the cargo.

[0037] The relative movement can be characterized as driving the body of the carrying robot to move towards the lifting assembly, or driving the lifting assembly to move towards the body, or driving the body to move towards the lifting assembly while driving the lifting assembly to move towards the body. In summary, different relative movements can make the body of the carrying robot stay at different positions when the lifting assembly is retracted into the body. Further, according to the relative position between the second loading position below and the body finally carrying the first cargo, the time-consuming of the carrying robot moving to the second loading position again can be reduced, for example, in the case that the first loading position and the second loading position exist in the forward direction of the carrying robot, and the distance between the carrying robot and the first loading position is shorter than the distance between the carrying robot and the second loading position, the carrying robot can drive the body to move towards the lifting assembly after moving to the first loading position and driving the corresponding lifting assembly to rise to carry the first cargo, so that the carrying robot after moving is closer to the second loading position. Or, in the case that the first loading position exists in the forward direction of the carrying robot, and the second loading position exists in the backward direction of the carrying robot, the carrying robot can drive the lifting assembly to move towards the body after moving to the first loading position and driving the corresponding lifting assembly to rise to carry the first cargo, so that the carrying robot after moving is closer to the second loading position.

[0038] The handling robot described in this manual can determine the specific execution of the relative movement based on the cargo-carrying situation of the lifting assembly and the main body when driving the lifting assembly to move relative to the main body.

[0039] In one embodiment, the aforementioned handling robot is equipped with a main body cargo detection sensor and a lifting component cargo detection sensor. When the main body cargo detection sensor indicates that the main body is not carrying cargo, and the lifting component detection sensor indicates that the lifting component is carrying cargo, the lifting component is driven to move relative to the main body. The following describes the process in conjunction with... Figure 3 The above situations will be discussed. Figure 3 This is a schematic diagram illustrating the structure of a sensor installed on a handling robot according to an exemplary embodiment of this specification, such as... Figure 3 As shown, when the lifting assembly of the handling robot is raised, the lifting assembly cargo detection sensor 310 can be used to determine whether there is a first cargo 301 on the lifting assembly, and the body cargo detection sensor 311 can be used to determine whether there are other cargoes on the body. When the body cargo detection sensor indicates that the body is not carrying cargo and the lifting assembly detection sensor indicates that the lifting assembly is carrying cargo (i.e., ... Figure 3 If, as shown in the diagram, the main body can carry the first cargo 301, then it can be determined that the handling robot can drive the lifting component to move relative to the main body. Of course, if the main body cargo detection sensor and the lifting component detection sensor indicate that neither the main body nor the lifting component is carrying cargo, the lifting component and the main body can perform corresponding operations based on actual needs. For example, they can continue to move relative to each other to make the handling robot more flexible in subsequent movements, or they can stop moving relative to each other to avoid unnecessary energy consumption. If the main body cargo detection sensor and the lifting component detection sensor indicate that both the main body and the lifting component are carrying cargo, the main body and the lifting component can stop moving relative to each other to avoid damage to the cargo (i.e., the cargo carried on the lifting component and the main body respectively). (In the event of a collision with cargo); if the cargo detection sensor on the main body and the detection sensor on the lifting component indicate that the main body is carrying cargo, but the lifting component is not carrying cargo, the two can determine the operation to be performed according to the preset transport priority. For example, if the transport priority of the lifting component is higher than that of the main body, the two can perform the corresponding relative movement to transfer the cargo from the main body to the lifting component. Or, if the transport priority of the main body is higher than that of the lifting component, the two can stop the relative movement to ensure that the main body still carries the cargo. In short, implementing corresponding transport strategies for different transport situations can effectively improve the overall efficiency of the transport process.

[0040] S202, after reaching a second loading position where the second cargo is located, the lifting assembly is driven to extend out of the body so as to move to the bottom of the second cargo, and the lifting assembly is driven to rise so as to carry the second cargo.

[0041] When the body carries the first cargo, the lifting assembly will return to the empty state, so that the lifting assembly can carry new cargo again to improve the overall carrying efficiency of the carrying robot. For example, after reaching a second loading position where the second cargo is located, the lifting assembly is driven to extend out of the body so as to move to the bottom of the second cargo, and the lifting assembly is driven to rise so as to carry the second cargo. At this time, the carrying robot successfully carries the first cargo and the second cargo. Of course, those skilled in the art can understand that the process of carrying the second cargo by the lifting assembly is basically the same as the process of carrying the first cargo, so this specification does not repeat it.

[0042] The body and the lifting assembly of the carrying robot can have different ranges of carrying cargo mass due to design structure or material process and other factors. For example, the body supports carrying cargo with a mass of not more than 300 Kg (i.e. the rated load of the body is 300 Kg), and the lifting assembly also supports carrying the cargo, but it may cause greater equipment wear during long-term carrying compared to the body, thereby reducing the service life of the carrying robot. In this specification, the carrying robot can change the carrying mode according to the range of mass of the cargo that can be carried by the body and the lifting assembly, thereby maximizing the service life of the carrying robot.

[0043] In an embodiment, the carrying robot is provided with a mass sensor. When the mass sensor indicates that the mass of the first cargo meets the preset bearable range of the body and the lifting assembly, and the mass of the second cargo meets the preset bearable range of the body but does not meet the preset bearable range of the lifting assembly, the carrying robot can drive the lifting assembly to unload the first cargo to a temporary position, and hand over the second cargo to the body for carrying, and at the same time, the carrying robot can drive the lifting assembly to rise to carry the first cargo in the temporary position. In this embodiment, the carrying robot is equivalent to exchanging the storage positions of the first cargo and the second cargo, so that the body and the lifting assembly can carry cargos of appropriate mass respectively. The temporary position can be a position determined by the carrying robot in real time according to the loading position, or can correspond to a pre-marked area, which is not limited in the specification. The specification also does not limit the size relationship between the preset bearable range of the body and the preset bearable range of the lifting assembly. For example, the preset bearable range of the lifting assembly can be greater than the preset bearable range of the body, or the bearable ranges of the two are equal. Those skilled in the art can understand that, in the case where the mass of the cargo exceeds the preset bearable range of the body and the preset bearable range of the lifting assembly at the same time, the carrying robot can abandon the carrying or forcibly carry (overload) the cargo according to the default rule, or report the situation to the administrator for manual judgment.

[0044] The specification does not limit the minimum size of the first cargo and the second cargo, so there can be a case where the carrying robot carries more than two cargos in the scheme of the present application.

[0045] In one embodiment, after the transport robot places the first cargo on top of the main body, if it detects that the remaining space on top of the main body meets the placement requirements of the second cargo, it drives the lifting assembly to place the second cargo in the remaining space, so that the main body can simultaneously carry the first cargo and the second cargo. Simultaneously, upon reaching the third loading position where the third cargo is located, the transport robot can drive the lifting assembly to extend from the main body, move the lifting assembly to the bottom of the third cargo, and then drive the lifting assembly to rise and carry the third cargo. The fulfillment of the placement requirements can be detected based on sensors such as photoelectric or ultrasonic sensors, and this specification does not limit this. When the lifting component carries the third cargo, the first and second cargo carried by the main body can be regarded as a whole. Therefore, if the handling robot detects that the remaining space on the top of the main body still meets the placement requirements of the third cargo after placing the second cargo on top of the main body, it can drive the lifting component to place the third cargo in the remaining space, so that the main body carries the first, second and third cargo at the same time. This continues until the remaining space on the top of the main body no longer meets the placement requirements of the last cargo.

[0046] The following is combined with Figures 4a-4d The process of loading the first and second goods by the aforementioned handling robot is described in detail.

[0047] 1. Move to the first loading position. For example... Figure 4a As shown, the handling robot needs to move goods 401 and goods 402 in the warehouse 40. Therefore, it first comes to the loading position 41 corresponding to goods 401, and at the same time drives the corresponding lifting component to extend from the body so that the lifting component moves to the bottom of goods 401, and drives the lifting component to rise to carry goods 401.

[0048] 2. Load the first cargo into the main body. (e.g.) Figure 4b As shown, the aforementioned handling robot drives the aforementioned body to move toward the aforementioned lifting assembly, and drives the aforementioned lifting assembly to fall so that the aforementioned body carries the cargo 401.

[0049] 3. Upon reaching the second loading position, load the second cargo onto the lifting assembly. (For example...) Figure 4c As shown, at this time, the original position of cargo 401 is equivalent to the loading position corresponding to cargo 402. Therefore, the above-mentioned handling robot can directly drive the lifting component to extend from the body without moving, so that the lifting component moves to the bottom of cargo 402 and drives the lifting component to rise to carry cargo 402.

[0050] 4. Proceed to the designated unloading location. For example... Figure 4dAs shown, at this time, the carrying robot has simultaneously loaded the goods 401 and the goods 402, and thus can exit the warehouse 40 in the form of returning along the original path and move to the corresponding unloading location.

[0051] S203, transporting the first goods and the second goods to the corresponding unloading locations.

[0052] When the carrying robot carries the first goods and the second goods and transports them to the corresponding unloading locations, due to the sequential loading of the goods (i.e., the first goods are loaded first and the second goods are loaded later), the unloading also has corresponding sequentiality.

[0053] In an embodiment, the carrying robot can move to the first unloading location corresponding to the second goods, drive the lifting assembly to lower to complete the unloading operation of the second goods, drive the lifting assembly to move relative to the body to make the lifting assembly retract into the body, move to the second unloading location corresponding to the first goods by the carrying robot, drive the lifting assembly to rise to carry the first goods, drive the lifting assembly to move relative to the body to make the lifting assembly extend out of the body, and finally drive the lifting assembly to lower to complete the unloading operation of the first goods.

[0054] Those skilled in the art can understand that the process of the carrying robot unloading the first goods and the second goods is equivalent to the reverse process of loading the first goods and the second goods, and can be explained according to the order of Figures 4d-4a Therefore, the present specification will not be described here.

[0055] As can be seen from the above embodiment, the carrying robot of the present specification utilizes the characteristics that the body and the lifting assembly can both carry goods, realizes the effect of simultaneously carrying multiple goods, and improves the overall carrying efficiency. At the same time, the carrying logic of the carrying robot can be perfected by introducing sensors such as goods pose detection, goods detection, and quality sensors, thereby optimizing the time required for loading different goods and further improving the goods carrying efficiency.

[0056] Figure 5 FIG. 1 is a schematic structural diagram of an electronic device in an exemplary embodiment. Please refer to Figure 5At the hardware level, the electronic device includes a processor, internal bus, network interface, memory, and non-volatile memory, and may also include other necessary hardware. The processor reads the corresponding computer program from the non-volatile memory into memory and then executes it, forming a device for transporting goods at the logical level. Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of hardware and software, etc. That is to say, the execution subject of the following processing flow is not limited to individual logic units, but can also be hardware or logic devices.

[0057] Corresponding to the embodiments of the aforementioned methods for transporting goods, this specification also provides an embodiment of an apparatus for transporting goods.

[0058] Please refer to Figure 6 , Figure 6 This is a schematic diagram illustrating the structure of a device for transporting goods, as shown in an exemplary embodiment. Figure 6 As shown, in a software implementation, the device may include:

[0059] The first loading unit 601 is configured to, after moving to the first loading position where the first cargo is located, drive the lifting assembly to extend from the body so that the lifting assembly moves to the bottom of the first cargo and drive the lifting assembly to rise to carry the first cargo; and drive the lifting assembly to move relative to the body so that the lifting assembly retracts into the body and drives the lifting assembly to fall so that the body carries the first cargo.

[0060] The second loading unit 602 is used to, after reaching the second loading position where the second cargo is located, drive the lifting assembly to extend from the body so that the lifting assembly moves to the bottom of the second cargo, and drive the lifting assembly to lift up to carry the second cargo.

[0061] The unloading unit 603 is used to transport the first cargo and the second cargo to the corresponding unloading positions.

[0062] Optionally, the handling robot is equipped with a cargo pose detection sensor, and the device further includes:

[0063] The cargo pose detection unit 604 is used to drive the body and / or the lifting assembly to move so that the lifting assembly correctly reaches the bottom of the first cargo or the second cargo when the cargo pose detection sensor indicates that the lifting assembly has not correctly reached the bottom of the first cargo or the second cargo.

[0064] Optionally, the first loading unit 601 is specifically used for:

[0065] Drive the body to move toward the lifting assembly; or...

[0066] Drive the lifting assembly to move towards the body; or...

[0067] The body is driven to move toward the lifting assembly, and the lifting assembly is simultaneously driven to move toward the body.

[0068] Optionally, the handling robot is equipped with a body cargo detection sensor and a lifting component cargo detection sensor, and the device further includes:

[0069] The cargo detection unit 605 is used to drive the lifting assembly to move relative to the body when the cargo detection sensor of the main body indicates that the main body is not carrying cargo and the detection sensor of the lifting assembly indicates that the lifting assembly is carrying cargo.

[0070] Optionally, the handling robot is equipped with a mass sensor, and the device further includes:

[0071] The cargo quality detection unit 606 is configured to, when the quality sensor indicates that the weight of the first cargo is within the preset carrying range of the body and the lifting assembly, and the weight of the second cargo is within the preset carrying range of the body but not within the preset carrying range of the lifting assembly, drive the lifting assembly to unload the first cargo to a temporary position and hand over the second cargo to the body for carrying; and drive the lifting assembly to rise to carry the first cargo at the temporary position.

[0072] Optionally, the device further includes:

[0073] The third loading unit 607 is used to, after placing the first cargo on top of the body, if it is detected that the remaining space on top of the body meets the placement requirements of the second cargo, drive the lifting assembly to place the second cargo in the remaining space, so that the body can carry both the first cargo and the second cargo at the same time.

[0074] Upon reaching the third loading position where the third cargo is located, the lifting assembly is driven to extend from the body to move to the bottom of the third cargo, and then driven to lift up to carry the third cargo.

[0075] Optionally, the unloading unit 603 is specifically used for:

[0076] After moving to the first unloading position corresponding to the second cargo, the lifting assembly is driven to fall to unload the second cargo; and the lifting assembly is driven to move relative to the body so that the lifting assembly retracts into the body.

[0077] Upon reaching the second unloading position corresponding to the first cargo, the lifting assembly is driven to rise to carry the first cargo, and the lifting assembly is driven to move relative to the body so that the lifting assembly extends out of the body; and the lifting assembly is driven to descend to unload the first cargo.

[0078] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0079] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the solution in this specification according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0080] The embodiments of the subject matter and functional operation described in this specification can be implemented in the following ways: digital electronic circuits, tangibly embodied computer software or firmware, computer hardware including the structures disclosed in this specification and their structural equivalents, or combinations thereof. Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible, non-transitory program carrier for execution by a data processing apparatus or for controlling the operation of a data processing apparatus. Alternatively or additionally, the program instructions may be encoded on artificially generated propagation signals, such as machine-generated electrical, optical, or electromagnetic signals, which are generated to encode information and transmit it to a suitable receiving device for execution by the data processing apparatus. The computer storage medium may be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or combinations thereof.

[0081] The processing and logic flow described in this specification can be executed by one or more programmable computers that execute one or more computer programs to perform corresponding functions by operating on input data and generating output. The processing and logic flow can also be executed by dedicated logic circuitry—such as FPGAs (Field-Programmable Gate Arrays) or ASICs (Application-Specific Integrated Circuits), and the device can also be implemented as dedicated logic circuitry.

[0082] Suitable computers for executing computer programs include, for example, general-purpose and / or special-purpose microprocessors, or any other type of central processing unit. Typically, the central processing unit receives instructions and data from read-only memory and / or random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include one or more mass storage devices for storing data, such as disks, magneto-optical disks, or optical disks, or the computer will be operatively coupled to such mass storage devices to receive data from or transfer data to them, or both. However, a computer is not required to have such devices. Furthermore, a computer can be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a global positioning system (GPS) receiver, or a portable storage device such as a universal serial bus (USB) flash drive, to name a few.

[0083] Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and memory devices, such as semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and CD-ROM and DVD-ROM disks. Processors and memory may be supplemented by or incorporated into dedicated logic circuitry.

[0084] While this specification contains numerous specific implementation details, these should not be construed as limiting the scope of any invention or the scope of the claims, but rather are primarily intended to describe features of specific embodiments of a particular invention. Certain features described in the various embodiments herein may also be implemented in combination in a single embodiment. Conversely, various features described in a single embodiment may also be implemented separately in various embodiments or in any suitable sub-combination. Furthermore, while features may function in certain combinations as described above and even initially claimed in this way, one or more features from a claimed combination may be removed from that combination in some cases, and a claimed combination may refer to a sub-combination or a variation thereof.

[0085] Similarly, although the operations are depicted in a specific order in the accompanying drawings, this should not be construed as requiring these operations to be performed in the specific order shown or sequentially, or requiring all illustrated operations to be performed to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. Furthermore, the separation of various system modules and components in the above embodiments should not be construed as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0086] Therefore, specific embodiments of the subject matter have been described. Furthermore, the processes depicted in the figures are not necessarily shown in a specific order or sequence to achieve the desired result. In some implementations, multitasking and parallel processing may be advantageous.

[0087] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A method of carrying cargo, characterized by, The application is applied to a carrying robot, which comprises a body and at least one lifting assembly; a platform at the top of the body is used to carry goods; at least one accommodating groove is arranged in the body, and each accommodating groove is used to accommodate one lifting assembly in a retracted state; the method comprises the following steps: After moving to a first loading position where a first goods is located, driving the lifting assembly to extend out of the corresponding accommodating groove in the body to move to the bottom of the first goods, and driving the lifting assembly to rise to carry the first goods; and driving the lifting assembly to move relative to the body to retract the lifting assembly into the corresponding accommodating groove in the body, and driving the lifting assembly to fall to make the body carry the first goods; After reaching a second loading position where a second goods is located, driving the lifting assembly to extend out of the corresponding accommodating groove in the body to move to the bottom of the second goods, and driving the lifting assembly to rise to carry the second goods; if it is detected that the remaining space at the top of the body meets the placement requirement of the second goods, driving the lifting assembly to place the second goods at the remaining space to make the body carry the first goods and the second goods at the same time; After reaching a third loading position where a third goods is located, driving the lifting assembly to extend out of the body to move to the bottom of the third goods, and driving the lifting assembly to rise to carry the third goods; Transporting the first goods and the second goods to corresponding unloading positions.

2. The method of claim 1, wherein, The carrying robot is provided with a goods pose detection sensor, and the driving of the lifting assembly to extend out of the body comprises the following steps: In the case that the goods pose detection sensor indicates that the lifting assembly does not correctly reach the bottom of the first goods or the second goods, driving the body and / or the lifting assembly to move to make the lifting assembly correctly reach the bottom of the first goods or the second goods.

3. The method of claim 1, wherein, The driving of the lifting assembly to move relative to the body comprises the following steps: Driving the body to move towards the lifting assembly; or Driving the lifting assembly to move towards the body; or Driving the body to move towards the lifting assembly and driving the lifting assembly to move towards the body.

4. The method of claim 1, wherein, The carrying robot is provided with a body goods detection sensor and a lifting assembly goods detection sensor, and the driving of the lifting assembly to move relative to the body comprises the following steps: In the case that the body goods detection sensor indicates that the body does not carry goods and the lifting assembly detection sensor indicates that the lifting assembly carries goods, driving the lifting assembly to move relative to the body.

5. The method of claim 1, wherein, The carrying robot is provided with a mass sensor, and the method further comprises the following steps: drive the lifting assembly to unload the first cargo to a temporary position and to unload the second cargo by the body; 6. The method of claim 1, wherein, the transporting of the first cargo and the second cargo to corresponding unloading positions comprises: after moving to the first unloading position corresponding to the second cargo, drive the lifting assembly to fall to unload the second cargo, and drive the lifting assembly to move relative to the body to retract the lifting assembly into the body; after moving to the second unloading position corresponding to the first cargo, drive the lifting assembly to rise to carry the first cargo, and drive the lifting assembly to move relative to the body to extend the lifting assembly out of the body, and drive the lifting assembly to fall to unload the first cargo.

7. An apparatus for carrying cargo, characterized by The device is applied to a carrying robot, which comprises a body and at least one lifting assembly; a platform at the top of the body is used to carry cargo; at least one accommodating groove is arranged in the body, and each accommodating groove is used to accommodate a lifting assembly in a retracted state; the device comprises: a first loading unit, which is used to, after moving to a first loading position where the first cargo is located, drive the lifting assembly to extend out of the body from the corresponding accommodating groove in the body to move to the bottom of the first cargo, and drive the lifting assembly to rise to carry the first cargo, and drive the lifting assembly to move relative to the body to retract the lifting assembly into the corresponding accommodating groove in the body, and drive the lifting assembly to fall to enable the body to carry the first cargo; a second loading unit, which is used to, after reaching a second loading position where the second cargo is located, drive the lifting assembly to extend out of the body from the corresponding accommodating groove in the body to move to the bottom of the second cargo, and drive the lifting assembly to rise to carry the second cargo; a third loading unit, which is used to, after placing the first cargo on the top of the body, if it is detected that the remaining space on the top of the body meets the placement requirement of the second cargo, drive the lifting assembly to place the second cargo at the remaining space to enable the body to simultaneously carry the first cargo and the second cargo, and after reaching a third loading position where the third cargo is located, drive the lifting assembly to extend out of the body to move to the bottom of the third cargo, and drive the lifting assembly to rise to carry the third cargo; an unloading unit, which is used to transport the first cargo and the second cargo to corresponding unloading positions.

8. The device according to claim 7, characterized in that, The carrying robot is provided with a cargo position detection sensor, and the device further comprises a cargo position detection unit configured to drive the body and / or the lifting assembly to move so as to make the lifting assembly correctly reach the bottom of the first cargo or the second cargo in a case where the cargo position detection sensor indicates that the lifting assembly does not correctly reach the bottom of the first cargo or the second cargo; or, The first loading unit is specifically configured to: drive the body to move towards the lifting assembly; or, drive the lifting assembly to move towards the body; or, drive the body to move towards the lifting assembly while driving the lifting assembly to move towards the body; or, The carrying robot is provided with a body cargo detection sensor and a lifting assembly cargo detection sensor, and the device further comprises: a cargo detection unit configured to drive the lifting assembly and the body to relatively move in a case where the body cargo detection sensor indicates that the body does not carry cargo and the lifting assembly detection sensor indicates that the lifting assembly carries cargo; or, The carrying robot is provided with a mass sensor, and the device further comprises: a cargo mass detection unit configured to drive the lifting assembly to unload the first cargo to a temporary position and hand over the second cargo to the body for carrying in a case where the mass sensor indicates that the mass of the first cargo meets the preset bearable range of the body and the lifting assembly and the mass of the second cargo meets the preset bearable range of the body but does not meet the preset bearable range of the lifting assembly; and drive the lifting assembly to rise to carry the first cargo at the temporary position; or, The unloading unit is specifically configured to: after moving to the first unloading position corresponding to the second cargo, drive the lifting assembly to fall to unload the second cargo, and drive the lifting assembly and the body to relatively move so as to make the lifting assembly retract into the body; after reaching the second unloading position corresponding to the first cargo, drive the lifting assembly to rise to carry the first cargo, and drive the lifting assembly and the body to relatively move so as to make the lifting assembly extend out of the body, and drive the lifting assembly to fall to unload the first cargo.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the steps of the method according to any one of claims 1-6.

10. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the steps of the method according to any one of claims 1-6.

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