A height detection method and apparatus

Abstract

The application provides a height detection method and device, the method is applied to a container handling equipment, the container handling equipment is provided with a ranging sensor, and the method comprises the following steps: obtaining motor parameter information corresponding to the container handling equipment, and obtaining ranging parameter information corresponding to the container handling equipment based on the ranging sensor; determining a first moving height corresponding to the container handling equipment based on the motor parameter information, and determining a second moving height corresponding to the container handling equipment based on the ranging parameter information; and determining a height detection result of the container handling equipment based on the first moving height and the second moving height. In this way, the stability and reliability of the height detection result can be ensured, and when the moving height determined based on the motor parameter information fails, the container handling equipment can be prevented from making an incorrect execution action and hindering the working efficiency of the container handling equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the warehouse technology field, in particular to a height detection method and device. BACKGROUND

[0002] In the field of bin-to-person series robot products, as the industry users demand higher and higher storage space density, the corresponding robot size height is also increasing, which requires better protection of the safety of the robot when the holding fork is at a high place. In order to ensure safety, the robot will make specific actions at different heights, such as deceleration when the holding fork approaches the ground, and the robot needs to provide necessary auxiliary support when the holding fork rises to a high place. Therefore, the robot needs to accurately and reliably detect the height of the holding fork. However, relying only on the motor encoder will cause the robot to make incorrect actions when the motor encoder fails, resulting in lower robot efficiency, and even affecting property or personal safety. SUMMARY

[0003] Therefore, the embodiments of the present application provide a height detection method and device to solve the technical defects in the prior art.

[0004] According to a first aspect of the embodiments of the present application, a height detection method is provided, applied to a container handling device, the container handling device being configured with a ranging sensor, comprising:

[0005] obtaining motor parameter information corresponding to the container handling device, and obtaining ranging parameter information corresponding to the container handling device based on the ranging sensor;

[0006] determining a first moving height corresponding to the container handling device based on the motor parameter information, and determining a second moving height corresponding to the container handling device based on the ranging parameter information;

[0007] determining a height detection result of the container handling device based on the first moving height and the second moving height.

[0008] According to a second aspect of the embodiments of the present application, a height detection device is provided, applied to a container handling device, the container handling device being configured with a ranging sensor, comprising:

[0009] an information obtaining module configured to obtain motor parameter information corresponding to the container handling device, and obtain ranging parameter information corresponding to the container handling device based on the ranging sensor;

[0010] a height determining module configured to determine a first moving height corresponding to the container handling device based on the motor parameter information, and determine a second moving height corresponding to the container handling device based on the ranging parameter information;

[0011] The result determination module is configured to determine a height detection result of the container handling device based on the first moving height and the second moving height.

[0012] According to a third aspect of the embodiments of the present application, a computing device is provided, which comprises a memory, a processor, and computer instructions stored in the memory and executable on the processor, and the processor implements the steps of the height detection method when executing the computer instructions.

[0013] According to a fourth aspect of the embodiments of the present application, a computer readable storage medium is provided, which stores computer instructions, and the computer instructions implement the steps of the height detection method when executed by a processor.

[0014] The height detection method provided by the embodiments of the present application is applied to a container handling device, and the container handling device is configured with a ranging sensor, and the method comprises the following steps: obtaining motor parameter information corresponding to the container handling device, and obtaining ranging parameter information corresponding to the container handling device based on the ranging sensor; determining a first moving height corresponding to the container handling device based on the motor parameter information, and determining a second moving height corresponding to the container handling device based on the ranging parameter information; and determining a height detection result of the container handling device based on the first moving height and the second moving height.

[0015] By obtaining the motor parameter information corresponding to the container handling device and the ranging parameter information obtained by the ranging sensor, the moving height of the container handling device is detected. Since two moving heights are determined based on two types of parameter information, the height detection result of the container handling device can be comprehensively determined based on the two moving heights. In addition to the moving height determined based on the motor parameter information, the moving height can also be calculated based on the ranging parameter obtained by the ranging sensor, which can guarantee the stability and reliability of the height detection result, prevent the container handling device from making an incorrect execution action when the moving height determined based on the motor parameter information fails, and hinder the working efficiency of the container handling device. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a scene schematic diagram of the height detection method provided by an embodiment of the present application;

[0017] Figure 2 is a flowchart of the height detection method provided by an embodiment of the present application;

[0018] Figure 3 is a schematic diagram of a container handling device of the height detection method provided by an embodiment of the present application;

[0019] Figure 4is a process flow diagram of a height detection method provided by an embodiment of the present application.

[0020] Figure 5 is a structural diagram of a height detection device provided by an embodiment of the present application.

[0021] Figure 6 is a structural block diagram of a computing device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0022] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced without the specific details. In other instances, well-known methods, procedures, components, and circuits have not been described in detail so as not to obscure the present application. Some portions of the detailed description which follow are presented in terms of algorithms, symbolic representations of operations on data bits or binary digital signals stored within a computer memory. These algorithmic descriptions and representations are the means used by those skilled in the data processing arts to most effectively convey the substance of their work to others skilled in the art.

[0023] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of one or more embodiments of the present application. As used in one or more embodiments of the present application and the accompanying claims, 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 "comprises" and / or "comprising," when used in one or more embodiments of the present application, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0024] It is to be understood that the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It is to be further understood that the terms "comprises," "comprising," "includes," "including," "has," "having" and the like, when used in one or more embodiments of the present application, specify the presence of stated features, integers, steps, operations, elements, and / or components but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It is to be understood that the terms "even number" and "odd number" include both positive and negative integers, unless the context clearly indicates otherwise. It is to be understood that the term "if' can be interpreted to mean "when" or "in response to determining" depending on the context.

[0025] First, the noun terms related to one or more embodiments of the present application are explained.

[0026] Bin robot: It is a full-automatic unmanned picking and carrying robot composed of a chassis, a shelf layer and a goods taking mechanism, which can carry multiple goods at a time, improving the goods taking efficiency and the storage capacity.

[0027] Motor encoder: It is a device suitable for electric motors to encode signals (such as bit streams) or data into a signal form that can be used for communication, transmission and storage.

[0028] Distance sensor: including ultrasonic distance sensor, laser distance sensor, infrared distance sensor, 24GHZ radar sensor, rope displacement sensor, etc.

[0029] In the field of bin-to-person series robot products, as the industry users demand higher and higher storage space density, the corresponding robot size height is also increasing, which requires better protection of the safety of the robot when the holding fork is at a high place. In order to ensure safety, the robot will make specific actions at different heights, such as deceleration when the holding fork approaches the ground, and the robot needs to provide necessary auxiliary support when the holding fork rises to a high place. This means that the robot needs to accurately detect and perceive the height of its holding fork. However, relying solely on motor encoders can cause incorrect actions when the motor encoder fails, resulting in lower robot efficiency and even affecting property or personal safety. To solve this problem, the height detection scheme of the encoder + distance sensor is provided in the embodiments of the present application, which can timely alarm when one of the sensors fails, thereby ensuring the safe and stable operation of the robot.

[0030] In the present application, a height detection method and device are provided, which are described in detail one by one in the following embodiments.

[0031] Figure 1 A scene schematic diagram of the height detection method provided by an embodiment of the present application is shown. Figure 1 The container handling device and the rack are included in the container handling system, and the container handling device can also include a plurality of containers, such as Figure 1 container 1-container 5 in the container handling device; it should be noted that the container handling device is used to take and place a plurality of containers from the rack, and the process of how to take and place the containers is not limited in the present embodiment.

[0032] In practical applications, in order to ensure the safety of the container handling device performing the container handling operation of the rack, the container handling mechanism can make specific actions according to different heights of the container handling mechanism when taking and placing containers; based on this, the height detection method provided by the present embodiment solves the problem of accurately detecting the height of the container handling mechanism in the container handling device, so as to Figure 1 The holding fork in the container handling device is taken as an example for illustration, and the height H between the holding fork and the base of the container handling device is detected.

[0033] In actual implementation, the bottom of the holding fork can be configured with a distance measuring sensor, so that the control system in the container handling equipment can not only obtain motor parameter information transmitted by the motor encoder, but also obtain distance measuring parameter information transmitted by the distance measuring sensor. Further, the control system calculates a first moving height between the holding fork and the base of the container handling equipment according to the motor parameter information, and calculates a second moving height between the holding fork and the base of the container handling equipment according to the distance measuring parameter information. Finally, the height detection result of the container handling equipment is determined according to the first moving height and the second moving height, wherein the height detection result includes a specific height value of H, or the current height detection is successful or failed, and the embodiment does not limit the form of the height detection result.

[0034] The distance measuring parameter information determined by the distance measuring sensor is used to determine the height moved by the handling mechanism of the container handling equipment, and the moving height determined according to the motor parameter information is used for comprehensive judgment, so as to ensure the accuracy of the height detection result.

[0035] Referring to Figure 2 , Figure 2 A flowchart of a height detection method provided by an embodiment of the application is shown, and the method specifically includes the following steps:

[0036] It should be noted that the height detection method provided by the embodiment is applied to a container handling equipment, wherein the container handling equipment can be understood as a movable robot in the warehousing field that can take and place containers from shelves and move to a designated position, such as a box robot and the like. In the embodiment, the type of the robot referred to by the container handling equipment is not limited.

[0037] Step 202: Obtain motor parameter information corresponding to the container handling equipment, and obtain distance measuring parameter information corresponding to the container handling equipment based on the distance measuring sensor.

[0038] The motor parameter information can be understood as parameter information of a motor in the container handling equipment, and the distance measuring parameter information can be understood as parameter information of a moving height generated by the up and down movement of a handling mechanism in the container handling equipment.

[0039] In actual application, the control system in the container handling equipment can detect the moving height of the handling mechanism in the container handling equipment by obtaining the motor parameter information and the distance measuring parameter information corresponding to the container handling equipment.

[0040] In actual implementation, the container handling equipment is further configured with an encoder, and the encoder is installed on a lifting motor of the container handling equipment.

[0041] Correspondingly, the obtaining of the motor parameter information corresponding to the container handling equipment includes:

[0042] Based on the encoder, obtain the encoding parameters of the lifting motor operation, wherein the encoding parameters include motor rotation turns, gear wheel diameter parameters, gear transmission ratio;

[0043] Determine the encoding parameters as the motor parameter information corresponding to the container handling equipment.

[0044] In actual application, the container handling equipment is also configured with an encoder, which can be a motor encoder, that is, a device suitable for encoding signals (such as bit streams) or data on a motor and converting them into a signal form available for communication, transmission and storage. The encoder can be installed on the lifting motor of the container handling equipment, so that the encoding parameters obtained by the encoder can be transmitted to the control system in real time. It should be noted that the obtained encoding parameters include motor rotation turns, gear wheel diameter parameters, gear transmission ratio, etc. In this embodiment, only three parameters are used as examples, but they are not limited to these three parameters. Further, the currently obtained encoding parameters can be determined as the motor parameter information corresponding to the container handling equipment.

[0045] It should be noted that the encoder provided in this embodiment can include at least one, and multiple encoders can be used to compare the encoding parameters to ensure the accuracy of the obtained encoding parameters and avoid errors in the determined motor parameter information due to encoder failure. For example, two encoders can be configured in the lifting motor of the container handling equipment, and the control system can compare the encoding parameters obtained by the two encoders to accurately determine the motor parameter information corresponding to the container handling equipment. The comprehensive determination method of the motor parameter information is not limited in this embodiment.

[0046] Further, the container handling equipment can also be configured with a distance measuring sensor, which can be configured at the bottom of the handling tray of the container handling equipment. The height of the bottom of the handling tray can be measured.

[0047] Correspondingly, the distance measuring parameter information corresponding to the container handling equipment is obtained based on the distance measuring sensor, which includes:

[0048] Based on the distance measuring sensor, determine the distance measuring parameter information between the bottom of the handling tray and the target base tray of the container handling equipment.

[0049] The distance measuring sensor can be understood as a sensor for measuring distance parameters, including but not limited to ultrasonic distance measuring sensor, laser distance measuring sensor, infrared distance measuring sensor, 24GHZ radar sensor, and pull rope displacement sensor, etc. This embodiment is not limited.

[0050] In actual application, after the distance measuring sensor is arranged at the bottom of the carrying tray of the container handling equipment, the distance measuring sensor can detect the distance measuring parameter information between the bottom of the carrying tray and the target base of the container handling equipment in real time. The target base can be understood as the plane of the upper surface of the base of the container handling equipment or the plane of the lower surface of the base in different application scenarios, which is not limited in the embodiment. It should be noted that the distance measuring parameter information output by the distance measuring sensor can include various forms, including but not limited to output distance (specific distance value), switch value (whether to reach a certain height switch value), analog value (such as transmitted current value) and the like.

[0051] For details, please refer to Figure 3 , Figure 3 is a schematic diagram of a container handling equipment provided by an embodiment of the application.

[0052] Figure 3 The right side of FIG. 1 is a schematic diagram of the whole container handling equipment, Figure 3 The left side of FIG. 1 is a schematic diagram of the structure of the carrying mechanism of the container handling equipment, wherein the distance measuring sensor can be installed at the bottom of the tray for detecting the actual height between the bottom of the tray and the target base of the container handling equipment. The specific structure details of the equipment are not limited in the embodiment, and thus are not described in detail.

[0053] Therefore, in order to accurately detect the moving height of the tray in the robot, the moving height can be determined by combining the encoder and the distance sensor, so as to accurately guide the next operation task of the robot according to the moving height, and improve the working efficiency of the robot.

[0054] Step 204: determining a first moving height corresponding to the container handling equipment based on the motor parameter information, and determining a second moving height corresponding to the container handling equipment based on the distance measuring parameter information.

[0055] Further, the control system can calculate the moving height according to the two parameter information respectively. Specifically, the first moving height corresponding to the container handling equipment can be determined based on the motor parameter information, and the second moving height corresponding to the container handling equipment can be determined based on the distance measuring parameter information.

[0056] In specific implementation, the determination of the first moving height corresponding to the container handling equipment based on the motor parameter information includes:

[0057] determining a preset distance algorithm corresponding to the encoder;

[0058] The motor parameter information is calculated based on the preset distance algorithm to determine the first moving height corresponding to the container handling equipment, wherein the first moving height is the moving height between the bottom of the carrying tray of the container handling equipment and the target base of the container handling equipment.

[0059] In actual application, the preset distance algorithm corresponding to the encoding parameter obtained by the encoder can be determined first. Since the types of the current parameter information recorded by the encoding parameter are different, the distance calculation methods are also different. Therefore, the preset distance algorithm corresponding to the encoder can be determined first, and then the motor parameter information is calculated according to the preset distance algorithm to determine the first moving height corresponding to the container handling equipment. It should be noted that the first moving height can be understood as the height of the holding fork moving upward relative to the base of the container handling equipment. As an example, when the motor parameter information includes the motor rotation turns, the gear diameter parameter and the gear transmission ratio, the determined preset distance algorithm can include the first moving height S1 = wheel diameter circumference * motor rotation turns * gear transmission ratio, wherein the wheel diameter circumference is calculated according to the gear diameter parameter.

[0060] It should be noted that the preset distance algorithm mentioned in the embodiment can be determined according to the type of information in the motor parameter information, and the embodiment does not limit a certain calculation method. Any calculation method that can calculate the distance value is acceptable.

[0061] Further, the second moving height corresponding to the container handling equipment is determined based on the ranging parameter information, including:

[0062] determining the parameter type of the ranging parameter information;

[0063] determining the distance calculation rule corresponding to the container handling equipment based on the parameter type;

[0064] processing the ranging parameter information according to the distance calculation rule to determine the second moving height corresponding to the container handling equipment, wherein the second moving height is the moving height between the bottom of the carrying tray of the container handling equipment and the target base of the container handling equipment.

[0065] In actual application, since the ranging parameter information types obtained by different types of ranging sensors are different, the control system can also determine the parameter type of the ranging parameter information before calculating the distance, and then determine the distance calculation rule corresponding to the container handling equipment according to the parameter type, wherein the distance calculation rule can be understood as the way of calculating the distance value through the ranging parameter information, which is not limited in the embodiment. Further, the ranging parameter information is calculated and processed according to the distance calculation rule to determine the second moving height corresponding to the container handling equipment. It should be noted that the second moving height has the same meaning as the first moving height, and both can refer to the height of the lifting of the gripper relative to the base of the container handling equipment. As an example, the ranging parameter information transmitted by the ranging sensor can include distance, switch value, analog value and the like. According to different forms, the distance calculation rule is determined, and then the absolute distance value from the bottom of the handling mechanism tray to the target base, i.e. the second moving height S2, can be measured in real time.

[0066] Step 206: determining the height detection result of the container handling equipment based on the first moving height and the second moving height.

[0067] The height detection result can be understood as the height detection result determined by the control system based on the first moving height and the second moving height. If the height detection is successful, the detection result will carry the target moving height. If the height detection fails, the detection result can return the system detection failure.

[0068] In actual application, in order to accurately detect the height moved by the handling mechanism in the container handling equipment, the control system needs to refer to the two determined moving heights, and determine whether there is an error in the two moving height calculation methods according to the difference between the two moving heights, and then determine the final height detection result. Specifically, the height detection result of the container handling equipment is determined based on the first moving height and the second moving height, including:

[0069] determining the target height difference based on the first moving height and the second moving height;

[0070] determining the height detection result of the container handling equipment based on the target height difference.

[0071] In actual application, the control system can also determine the target height difference (i.e. S1-S2) between the first moving height and the second moving height, so as to determine whether the calculation results of the two moving heights are the same or whether there is a large error. Further, the height detection result of the container handling equipment is determined according to the target height difference, wherein the display method of the height detection result is not limited in the embodiment.

[0072] Further, the two calculated moving height values provided in the embodiment can be the same or can have errors. Due to different calculation methods and data, the two moving heights can have errors. However, if both height detection processes are correct, the error value will be relatively small and will not be significantly different. Therefore, the embodiment also needs to determine whether one of the calculation methods is incorrect based on the target height difference value, and then the subsequent staff can adjust the faulty sensor or encoder. Specifically, the height detection result of the container handling equipment is determined based on the target height difference value, including:

[0073] In a case where it is determined that the target height difference value meets the preset difference condition, the height detection result of the container handling equipment is determined based on the first moving height and the second moving height.

[0074] The preset difference condition can be understood as an error range defined by the target height difference value, and the specific error range can be set to different numerical ranges according to different application scenarios, which is not limited in the embodiment.

[0075] In actual application, after the control system determines the target height difference value based on the first moving height and the second moving height, it can also judge whether the target height difference value meets the preset difference condition. In a case where it is determined that the target height difference value meets the preset difference condition, that is, the difference between S1 and S2 is within a certain error range, then it means that both detection methods of moving height are correct, and the final height detection result can be determined based on the first moving height and the second moving height, such as taking the average of the first moving height and the second moving height to determine the target moving height as the height value in the height detection result.

[0076] By judging the target height difference value between the two moving heights, it is determined whether the two height detection methods are faulty, so as to ensure the accuracy of height detection.

[0077] Further, the control system can determine the next execution action of the container handling equipment based on the height value of the target moving height, that is, the specific action is determined according to the height of the handling mechanism of the container handling equipment. Specifically, after the height detection result of the container handling equipment is determined, it further includes:

[0078] Based on the target moving height in the height detection result, a to-be-executed work task of the container handling equipment is determined.

[0079] The to-be-executed work task is executed.

[0080] In actual application, the control system can determine the next to-be-executed work task of the container handling equipment according to the target moving height in the height detection result, such as a plurality of forms of actions of robot gripper taking a box, tray auxiliary support mechanism moving, robot tray ascending and descending speed changing, robot walking speed changing, and the like; further, the control system can control the container handling equipment to execute the subsequent work task; it should be noted that, in order to guarantee safety, the handling mechanism of the container handling equipment will make specific actions at different heights, such as deceleration when the gripper approaches the ground, and necessary auxiliary support of the robot when the gripper rises to a high place, and the like. Therefore, the control system determines the corresponding to-be-executed work task according to the target moving height, which can further improve the work execution efficiency of the container handling equipment.

[0081] In addition, when the control system determines that the error of the target height difference value is large, it indicates that at least one of the two height detection methods fails, and therefore an error feedback program is required in time; specifically, the determination of the height detection result of the container handling equipment based on the target height difference value comprises:

[0082] In a case where the target height difference value does not satisfy the preset difference value condition, returning a system error of the container handling equipment.

[0083] In actual application, in a case where the target height difference value does not satisfy the preset difference value condition, a system error can be fed back, so as to facilitate the container handling equipment to make corresponding actions to notify relevant personnel.

[0084] Further, in order to solve the current fault problem in time, the container handling equipment can also generate safety alarm information and make corresponding alarm actions; specifically, after returning the system error of the container handling equipment, the method further comprises:

[0085] Generating safety alarm information of the container handling equipment based on the system error.

[0086] In actual application, after returning the system error, the control system can further generate safety alarm information corresponding to the container handling equipment, wherein the safety alarm information can include alarm information for personnel or alarm information for container goods; in addition, the container handling equipment can also make alarm actions, such as changing the color of its own light strip, speaker broadcasting, reporting errors to the dispatching system, and the like, which are not limited in the embodiment.

[0087] Meanwhile, the distance measuring sensor for measuring the distance of the tray bottom disc can also play a role in protecting personnel or goods on the bottom disc of the container handling equipment. The application scenario is mainly that when there are personnel or goods on the bottom disc, the control system can perceive that the difference between the distance S1 measured by the distance measuring sensor and the distance S2 converted by the encoder is greater than the set threshold value, and the container handling equipment can warn the personnel to leave or the goods to move away, thereby protecting the personal safety of the workers and the property safety of the user.

[0088] In addition, the embodiment of the present application also provides another height detection method, that is, a height detection module can also be configured on the container handling equipment, such as adding a touch switch or a photoelectric open light at a specific height position, to detect whether the carrying mechanism of the container handling equipment reaches the specific height position, and then determine the moving height of the current carrying mechanism; specifically, the container handling equipment is also configured with a height detection module, and the height detection module is configured at a preset height position corresponding to the up-down movement of the container handling equipment.

[0089] Correspondingly, the method further comprises:

[0090] In a case where it is determined that the container handling equipment moves to the preset height position, a target moving height corresponding to the container handling equipment is determined according to the first moving height and the preset height position.

[0091] The height detection module can be understood as a device position configured in the vertical direction of the container handling equipment, including but not limited to a touch switch or a photoelectric open light.

[0092] In actual application, when the carrying mechanism of the container handling equipment moves to the preset height position, the switch can be touched or the photoelectric switch can be reacted, which means that the carrying mechanism has been raised to the preset height position; further, the control system can also refer to the first moving height and the preset height position to determine the specific height position of the carrying mechanism in the current container handling equipment, so as to obtain the target moving height.

[0093] This way is to realize the process of accurate height detection through two ways of the encoder plus the touch switch or the photoelectric switch. The description of this implementation in the embodiment is only as an example, and is not limited to other ways of detecting the moving height, which will not be described one by one here.

[0094] In summary, the height detection method provided in this application, through a combination of sensors and encoders, ensures more accurate and reliable height detection when the container handling equipment is moving up and down. At the same time, after the control system detects a system fault, it can alert the staff to leave the vicinity of the container handling equipment or to move the goods away, indicating that there is a risk of error in the subsequent operation, thereby protecting the personal safety of the staff and the property safety of the users.

[0095] See Figure 4 , Figure 4 This is a flowchart of the height detection method provided in one embodiment of this application.

[0096] Step 402: Robot gantry or pallet movement.

[0097] Step 404: Reach the predetermined height.

[0098] Step 406: Determine whether the encoder detection conversion distance value is equal to the distance sensor detection distance. If yes, proceed to step 408; otherwise, proceed to step 410.

[0099] It should be noted that the encoder detection and conversion distance value is determined based on the acquired motor parameter information, and the distance sensor detection distance is determined based on the ranging parameter information. For details, please refer to the description in the above embodiments, which will not be repeated here.

[0100] Step 408: Execute subsequent tasks, such as picking up and returning boxes with forks, moving auxiliary support mechanisms, changing the speed of pallet rising and falling, and changing the walking speed.

[0101] Step 410: System alarms, such as changes in light strip color, loudspeaker announcements, and reports to the dispatch system.

[0102] In summary, when the robot reaches the predetermined height and needs to perform height detection, the results of both encoder and distance sensor height detection methods can be compared to determine the subsequent robot task execution strategy and content. This not only enables accurate height detection but also ensures the safety of subsequent robot operations.

[0103] Corresponding to the above method embodiments, this application also provides an embodiment of a height detection device. Figure 5 A schematic diagram of a height detection device according to an embodiment of this application is shown. Figure 5 As shown, this device is applied to container handling equipment, which is equipped with a ranging sensor, including:

[0104] The information acquisition module 502 is configured to acquire motor parameter information corresponding to the container handling equipment, and acquire ranging parameter information corresponding to the container handling equipment based on the ranging sensor;

[0105] The height determination module 504 is configured to determine a first moving height corresponding to the container handling equipment based on the motor parameter information, and determine a second moving height corresponding to the container handling equipment based on the ranging parameter information;

[0106] The result determination module 506 is configured to determine a height detection result of the container handling equipment based on the first moving height and the second moving height.

[0107] Optionally, the ranging sensor is arranged at the bottom of the container handling equipment.

[0108] Optionally, the information acquisition module 502 is further configured to:

[0109] determine, based on the ranging sensor, ranging parameter information between the bottom of the handling tray and a target base of the container handling equipment.

[0110] Optionally, the container handling equipment is further provided with an encoder, and the encoder is installed at a lifting motor of the container handling equipment.

[0111] Optionally, the information acquisition module 502 is further configured to:

[0112] acquire, based on the encoder, an encoding parameter of the lifting motor, wherein the encoding parameter includes motor rotation turns, gear diameter parameters, and gear transmission ratio.

[0113] determine the encoding parameter as the motor parameter information corresponding to the container handling equipment.

[0114] Optionally, the height determination module 504 is further configured to:

[0115] determine a preset distance algorithm corresponding to the encoder.

[0116] calculate the motor parameter information based on the preset distance algorithm to determine the first moving height corresponding to the container handling equipment, wherein the first moving height is a moving height between the bottom of the handling tray of the container handling equipment and a target base of the container handling equipment.

[0117] Optionally, the height determination module 504 is further configured to:

[0118] determine a parameter type of the ranging parameter information.

[0119] determine a distance calculation rule corresponding to the container handling equipment based on the parameter type;

[0120] process the ranging parameter information according to the distance calculation rule to determine a second moving height corresponding to the container handling equipment, wherein the second moving height is a moving height between a bottom of a carrying tray of the container handling equipment and a target base of the container handling equipment.

[0121] Optionally, the result determination module 506 is further configured to:

[0122] determine a target height difference value based on the first moving height and the second moving height;

[0123] determine a height detection result of the container handling equipment based on the target height difference value.

[0124] Optionally, the result determination module 506 is further configured to:

[0125] determine a height detection result of the container handling equipment based on the first moving height and the second moving height in a case where it is determined that the target height difference value satisfies a preset difference value condition.

[0126] Optionally, the apparatus further comprises:

[0127] a task execution module configured to determine a to-be-executed work task of the container handling equipment based on a target moving height in the height detection result;

[0128] execute the to-be-executed work task.

[0129] Optionally, the result determination module 506 is further configured to:

[0130] return a system error of the container handling equipment in a case where it is determined that the target height difference value does not satisfy a preset difference value condition.

[0131] Optionally, the apparatus further comprises:

[0132] an alarm information generation module configured to generate safety alarm information of the container handling equipment based on the system error.

[0133] Optionally, the container handling equipment is further configured with a height detection module, and the height detection module is arranged at a preset height position corresponding to up-down movement of the container handling equipment.

[0134] Optionally, the apparatus further comprises:

[0135] The height determination module is configured to determine the target moving height of the container handling device based on the first moving height and the preset height position when it is determined that the container handling device has moved to the preset height position.

[0136] The height detection device provided in this application detects the moving height of the container handling equipment by acquiring motor parameter information corresponding to the container handling equipment and distance measurement parameter information obtained from the distance measuring sensor. Since two moving heights are determined based on the two types of parameter information, the height detection result of the container handling equipment can be determined comprehensively based on these two moving heights. In addition to the moving height determined based on the motor parameter information, this device can also calculate the moving height based on the distance measurement parameter obtained from the distance measuring sensor, which can ensure the stability and reliability of the height detection result and prevent the container handling equipment from making incorrect execution actions when the moving height determined based on the motor parameter information fails, thus hindering the working efficiency of the container handling equipment.

[0137] The above is a schematic representation of a height detection device according to this embodiment. It should be noted that the technical solution of this height detection device and the technical solution of the height detection method described above belong to the same concept. Details not described in detail in the technical solution of the height detection device can be found in the description of the technical solution of the height detection method described above.

[0138] Figure 6 A structural block diagram of a computing device 600 according to an embodiment of this application is shown. The components of the computing device 600 include, but are not limited to, a memory 610 and a processor 620. The processor 620 is connected to the memory 610 via a bus 630, and a database 650 is used to store data.

[0139] The computing device 600 also includes an access device 640, which enables the computing device 600 to communicate via one or more networks 660. Examples of these networks include a Public Switched Telephone Network (PSTN), a Local Area Network (LAN), a Wide Area Network (WAN), a Personal Area Network (PAN), or a combination of communication networks such as the Internet. The access device 640 may include one or more of any type of wired or wireless network interface (e.g., a Network Interface Card (NIC)), such as an IEEE 802.11 Wireless Local Area Network (WLAN) interface, a Wi-MAX interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, a Near Field Communication (NFC) interface, and so on.

[0140] In one embodiment of this application, the aforementioned components of the computing device 600 and Figure 6 Other components, not shown, can also be connected to each other, for example, via a bus. It should be understood that...Figure 6 The illustrated computing device architecture diagram is for example purposes only and is not a limitation on the scope of the present application. Other components can be added or substituted as desired by those skilled in the art.

[0141] The computing device 600 can be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smartphone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other type of mobile device, or a stationary computing device such as a desktop computer or PC. The computing device 600 can also be a mobile or stationary server.

[0142] The processor 620 implements the steps of the height detection method when executing the computer instructions.

[0143] The above is a schematic scheme of the computing device of the embodiment. It should be noted that the technical scheme of the computing device belongs to the same concept as the technical scheme of the height detection method described above, and the details of the technical scheme of the computing device that are not described in detail can be referred to the description of the technical scheme of the height detection method.

[0144] The embodiment of the present application also provides a computer readable storage medium storing computer instructions, which, when executed by a processor, implement the steps of the height detection method as described above.

[0145] The above is a schematic scheme of the computer readable storage medium of the embodiment. It should be noted that the technical scheme of the storage medium belongs to the same concept as the technical scheme of the height detection method described above, and the details of the technical scheme of the storage medium that are not described in detail can be referred to the description of the technical scheme of the height detection method.

[0146] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order and still accomplish desirable results. Additionally, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order to achieve desirable results. In some embodiments, multitasking and parallel processing can be advantageous.

[0147] It should be noted that, for the aforementioned method embodiments, the sequences of the described actions are not the only ones that can be performed to implement the present application. In some embodiments, the sequences of actions can be performed in different order or simultaneously. In some embodiments, other sequences of actions can be performed, which should be apparent to a person of ordinary skill in the art in light of the teachings of the present application.

[0148] In the above embodiments, the description of each embodiment focuses on different aspects, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0149] The preferred embodiments of the present application disclosed above are only used to explain the present application. The alternative embodiments do not describe all the details and limit the present application to the specific embodiments. Obviously, many modifications and changes can be made according to the content of the present application. The present application selects and describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and use the present application. The present application is limited by the claims and their full scope and equivalents.

Claims

1. A height detection method, characterized in that, Applied to container handling equipment, the container handling equipment is equipped with a ranging sensor, including: Obtain motor parameter information corresponding to the container handling equipment, and obtain distance parameter information corresponding to the container handling equipment based on the distance sensor; The first moving height of the container handling equipment is determined based on the motor parameter information, and the second moving height of the container handling equipment is determined based on the distance measurement parameter information. Based on the first moving height and the second moving height, a target height difference is determined, and based on the target height difference, the height detection result of the container handling equipment is determined, wherein the height detection result is a height detection result comprehensively determined based on the first moving height and the second moving height.

2. The method as described in claim 1, characterized in that, The distance sensor is configured on the bottom of the handling pallet of the container handling equipment; Accordingly, the step of acquiring the ranging parameter information corresponding to the container handling equipment based on the ranging sensor includes: Based on the ranging sensor, the ranging parameter information between the bottom of the transport pallet and the target chassis of the container transport equipment is determined.

3. The method as described in claim 1, characterized in that, The container handling equipment is also equipped with an encoder, which is mounted on the lifting motor of the container handling equipment; Accordingly, the motor parameter information corresponding to the container handling equipment is obtained, including: Based on the encoder, the encoding parameters for the operation of the lifting motor are obtained, wherein the encoding parameters include the number of motor rotations, gear diameter parameters, and gear transmission ratio; The encoded parameters are determined as the motor parameter information corresponding to the container handling equipment.

4. The method as described in claim 3, characterized in that, Determining the first moving height corresponding to the container handling equipment based on the motor parameter information includes: Determine the preset distance algorithm corresponding to the encoder; Based on the preset distance algorithm, the motor parameter information is calculated to determine the first moving height corresponding to the container handling equipment, wherein the first moving height is the moving height between the bottom of the handling pallet of the container handling equipment and the target base of the container handling equipment.

5. The method as described in claim 2, characterized in that, Determining the second moving height corresponding to the container handling equipment based on the ranging parameter information includes: Determine the parameter type of the ranging parameter information; The distance calculation rules corresponding to the container handling equipment are determined based on the parameter type; According to the distance calculation rules, the distance measurement parameter information is processed to determine the second moving height corresponding to the container handling equipment, wherein the second moving height is the moving height between the bottom of the handling pallet of the container handling equipment and the target base of the container handling equipment.

6. The method as described in claim 1, characterized in that, Based on the target height difference, the height detection result of the container handling equipment is determined, including: If the target height difference is determined to meet the preset difference condition, the height detection result of the container handling equipment is determined based on the first moving height and the second moving height.

7. The method as described in claim 6, characterized in that, After determining the height detection result of the container handling equipment, the method further includes: Based on the target movement height in the height detection results, the task to be performed by the container handling equipment is determined; Execute the pending job task.

8. The method as described in claim 1, characterized in that, Based on the target height difference, the height detection result of the container handling equipment is determined, including: If the target height difference does not meet the preset difference condition, a system error is returned to the container handling equipment.

9. The method as described in claim 8, characterized in that, After the system reports an error to the container handling equipment, the following also applies: Based on the system error report, a safety alarm message is generated for the container handling equipment.

10. The method as described in claim 1, characterized in that, The container handling equipment is also equipped with a height detection module, which is configured at a preset height position corresponding to the vertical movement of the container handling equipment; Accordingly, the method further includes: If it is determined that the container handling equipment has moved to the preset height position, the target moving height corresponding to the container handling equipment is determined based on the first moving height and the preset height position.

11. A height detection device, characterized in that, Used in container handling equipment, which is equipped with ranging sensors, including: The information acquisition module is configured to acquire motor parameter information corresponding to the container handling equipment and acquire distance measurement parameter information corresponding to the container handling equipment based on the distance measuring sensor. The height determination module is configured to determine a first moving height corresponding to the container handling equipment based on the motor parameter information, and to determine a second moving height corresponding to the container handling equipment based on the distance measurement parameter information; The result determination module is configured to determine a target height difference based on the first moving height and the second moving height, and to determine the height detection result of the container handling equipment based on the target height difference.

12. A computing device, comprising a memory, a processor, and computer instructions stored in the memory and executable on the processor, characterized in that, When the processor executes the computer instructions, it implements the steps of the method according to any one of claims 1-10.

13. A computer-readable storage medium storing computer instructions, characterized in that, When executed by a processor, the computer instructions implement the steps of the method according to any one of claims 1-10.

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