Cargo box handling method, system and readable storage medium

Abstract

The application discloses a kind of container handling method, system and readable storage medium, the method comprises: robot control detection device detects the height parameter of multiple positions in warehouse, and sends the height parameter of multiple positions to electronic equipment, to make electronic equipment obtain the three-dimensional map of warehouse based on height parameter and initial two-dimensional map.Robot receives container handling task, wherein the container handling task includes driving path, target shelf and target location.Robot is based on driving path, travels to target shelf, carries target container of target location to target position, or, carries target container to target location.Application embodiment can effectively avoid the unsafe accident that robot touches warehouse top when executing container handling task in different positions.

Description

Technical Field

[0001] This application relates to the field of smart warehousing, and in particular to a method, system and readable storage medium for handling cargo containers. Background Technology

[0002] In recent years, the rapid development of robotics technology has brought about tremendous technological changes to the entire logistics industry. "Goods-to-person" robot systems have introduced new technologies and design concepts to the warehousing industry. Goods-to-person robot systems encompass various methods, among which "box-to-person" is one. Box-to-person refers to robots transporting boxes to workstations, where staff pick the goods according to order information.

[0003] Typically, to improve storage capacity and space utilization, warehouses can be designed with irregularly shaped ceilings (e.g., triangular or circular). In such warehouses, the ceiling height varies at different locations, allowing for the use of shelving of varying heights to enhance storage capacity and space utilization. However, when robots perform cargo handling tasks on these shelving units, their lifting mechanisms may come into contact with the warehouse ceiling, potentially causing damage to the robot. Summary of the Invention

[0004] This application provides a method, system, and readable storage medium for handling boxes, addressing the problem that in traditional box handling methods, when a robot performs box handling tasks on shelves of varying heights in a warehouse, its lifting mechanism may touch the warehouse ceiling, causing damage to the robot. Specifically, embodiments of this application disclose the following technical solutions:

[0005] In a first aspect, embodiments of this application provide a method for handling cargo boxes. The method includes: a robot-controlled detection device detecting height parameters at multiple locations in a warehouse and sending these height parameters to an electronic device, enabling the electronic device to obtain a three-dimensional map of the warehouse based on the height parameters and an initial two-dimensional map. A robot receives a cargo box handling task, wherein the task is determined based on the three-dimensional map and order information, and the task includes a travel path, a target shelf, and a target storage location. Based on the travel path, the robot travels to the target shelf and handles the target cargo box from the target storage location to the target location, or handles the target cargo box to the target storage location.

[0006] In one alternative embodiment, the robot travels along a path to a target shelf and moves a target box from the target location to the target position, or moves the target box to the target shelf location. This includes: the robot determining the height parameters corresponding to each position in the target operating aisle based on the target operating aisle along the travel path in a 3D map; wherein the 3D map includes height parameters corresponding to multiple positions in multiple operating aisles. During its journey to the target shelf, the robot adjusts the height of its lifting mechanism based on the height parameters corresponding to each position in the target operating aisle to move the target box from the target shelf to the target position, or moves the target box to the target shelf location.

[0007] In one alternative embodiment, the height parameters corresponding to each position in the target operating channel include at least one of the shelf height, height limit height, and warehouse height corresponding to each position. During the robot's journey to the target shelf, the height of the robot's lifting mechanism is adjusted based on the height parameters corresponding to each position in the target operating channel. This includes: during the robot's journey to the target shelf, adjusting the height of the robot's lifting mechanism based on at least one of the shelf height, height limit height, and warehouse height corresponding to each position in the target operating channel.

[0008] In an alternative embodiment, the detection device further includes a first sensor disposed on the robot's box-retrieving device, controlling the detection device to detect height parameters at multiple locations in the warehouse, including: the robot running in the warehouse, controlling the first sensor to detect the shelf height at multiple locations in the warehouse; the shelf height includes the height of each layer of beams in the shelf.

[0009] In one alternative embodiment, the detection device includes a second sensor disposed on top of the robot's lifting mechanism; controlling the detection device to detect height parameters at multiple locations in the warehouse includes: the robot operating in the warehouse, controlling the second sensor to detect height information and / or height limits among the height parameters at multiple locations in the warehouse.

[0010] In one alternative embodiment, the height information includes the warehouse height and / or vertical height scan data from the second sensor to the top of the warehouse.

[0011] In one alternative embodiment, the warehouse is equipped with multiple shelves for storing multiple boxes; the deployment method of the multiple shelves and the storage height of the multiple boxes on the shelves are determined based on the warehouse height and / or height limit; the deployment method of the multiple shelves includes the deployment location of the multiple shelves in the warehouse and the shelf height of the multiple shelves.

[0012] In one alternative embodiment, the height information includes height scan data, and sending height parameters at multiple locations to the electronic device includes: sending height scan data to the electronic device so that the electronic device determines the vertical distance from the second sensor to the top of the warehouse based on the height scan data, and determines the maximum lifting height of the lifting mechanism based on the vertical distance.

[0013] In an alternative embodiment, the cargo handling method further includes receiving the maximum lifting height of the lifting mechanism sent by an electronic device. Moving a target cargo box from a target location to a target position, or moving a target cargo box to a target location, includes: when the robot arrives at the target shelf, controlling the lifting mechanism to extend longitudinally based on the maximum lifting height of the lifting mechanism, to move the target cargo box from the target location to the target position, or moving the target cargo box to the target location.

[0014] In one alternative embodiment, based on the maximum lifting height of the lifting mechanism, the lifting mechanism is controlled to extend longitudinally to transport the target cargo box of the target location to the target position, or to transport the target cargo box to the target location, including: controlling the lifting mechanism to extend longitudinally based on the maximum lifting height, and simultaneously controlling the robot's box-picking device to lift up to the height of the target location, to transport the target cargo box of the target location to the target position, or to transport the target cargo box to the target location; wherein, the maximum lifting height is the maximum extension distance of the telescopic frame in the lifting mechanism.

[0015] In one alternative embodiment, based on the maximum lifting height of the lifting mechanism, controlling the lifting mechanism to extend longitudinally to transport the target cargo box of the target location to the target position, or to transport the target cargo box to the target location, includes: controlling the lifting mechanism to extend longitudinally based on the maximum lifting height, controlling the robot's box-retrieving device to lift up to the height of the target location, and controlling the box-retrieving device to transport the target cargo box of the target location to the target position, or to transport the target cargo box to the target location; wherein, the maximum lifting height is the vertical distance.

[0016] In one alternative embodiment, the detection device further includes a collision switch disposed on the robot's lifting mechanism; the cargo handling method further includes: detecting a collision signal via the collision switch during the robot's cargo handling task. Upon receiving a collision signal, the height of the lifting mechanism is adjusted based on the collision signal.

[0017] Secondly, embodiments of this application provide a box handling method, comprising: an electronic device receiving height parameters of multiple locations in a warehouse sent by a robot; the electronic device creating a three-dimensional map of the warehouse based on the height parameters of the multiple locations and an initial two-dimensional map; the electronic device generating a box handling task based on the three-dimensional map and order information, wherein the box handling task includes a travel path, a target shelf, and a target storage location; and the electronic device sending the box handling task to the robot, causing the robot to run to the target shelf based on the travel path and move the target box corresponding to the target storage location in the box handling task to the target location, or move the target box to the target storage location.

[0018] In one alternative embodiment, the height parameters include at least one of height information, height limit, and shelf height. Creating a three-dimensional map of the warehouse based on the height parameters from multiple locations and an initial two-dimensional map includes associating at least one of the height information from multiple locations, height limit, and shelf height with corresponding locations in each running aisle of the initial two-dimensional map to create the three-dimensional map. The shelf height includes the height of each beam on each shelf level.

[0019] In one alternative embodiment, the height information includes the warehouse height and / or vertical height scan data from the robot's detection device to the top of the warehouse.

[0020] In an alternative embodiment, the cargo handling method further includes: receiving height scan data sent by a robot; determining the vertical distance from the robot's detection device to the top of the warehouse based on the height scan data; determining the maximum lifting height of the robot's lifting mechanism based on the vertical distance; and sending the maximum lifting height of the lifting mechanism to the robot so that the robot controls the lifting mechanism to extend longitudinally based on the maximum lifting height, thereby moving the target cargo box in the target location to the target position, or moving the target cargo box to the target location.

[0021] In one alternative embodiment, determining the maximum lifting height of the lifting mechanism based on the vertical distance includes: acquiring the height difference between the installation height of the detection device and the top height of the robot when the lifting mechanism is in its maximum extension state. If the vertical distance is greater than or equal to the height difference, the maximum extension distance of the lifting mechanism is determined as the maximum lifting height of the lifting mechanism; if the vertical distance is less than the height difference, the vertical distance is determined as the maximum lifting height of the lifting mechanism.

[0022] Thirdly, embodiments of this application also provide a cargo handling system, including: a robot for performing the steps of the cargo handling method of any of the first aspect embodiments described above; and an electronic device for performing the steps of the cargo handling method of any of the second aspect embodiments described above.

[0023] Fourthly, this application provides a cargo handling device, including a control module, a task receiving module, and a handling module. The control module controls a detection device to detect height parameters at multiple locations in a warehouse and sends these height parameters to an electronic device, enabling the electronic device to obtain a three-dimensional map of the warehouse based on the height parameters and an initial two-dimensional map. The task receiving module receives a cargo handling task generated based on the three-dimensional map and order information, and the task includes a travel path, a target shelf, and a target storage location. The handling module travels along the travel path to the target shelf and moves the target cargo box from the target storage location to the target location, or moves the target cargo box to the target storage location.

[0024] Fifthly, this application provides another cargo handling device, including: a parameter receiving module, a map creation module, a task generation module, and a task sending module. The parameter receiving module receives height parameters of multiple locations in a warehouse sent by a robot. The map creation module creates a three-dimensional map of the warehouse based on the height parameters of the multiple locations and an initial two-dimensional map. The task generation module generates cargo handling tasks based on the three-dimensional map and order information; wherein the cargo handling task includes a travel path, a target shelf, and a target storage location. The task sending module sends the cargo handling task to the robot, enabling the robot to travel along the travel path to the target shelf in the cargo handling task and move the target cargo corresponding to the target storage location to the target location, or move the target cargo to the target storage location.

[0025] In a sixth aspect, embodiments of this application provide a computer-readable storage medium storing computer instructions for causing the computer to perform the methods in any implementation of the first and second aspects.

[0026] The cargo handling method, system, and readable storage medium provided in this embodiment detect height parameters at multiple locations in a warehouse using a robot-controlled detection device and send these height parameters to an electronic device. This allows the electronic device to generate a three-dimensional map of the warehouse based on the height parameters and an initial two-dimensional map. Upon receiving a cargo handling task generated from the three-dimensional map and order information, the robot travels to the target shelf according to the path specified in the task and moves the target cargo box from the target location to the target location, or vice versa. Because the three-dimensional map includes height parameters for multiple locations, the cargo handling task generated based on the three-dimensional map can meet the height restrictions of different locations, effectively preventing unsafe accidents such as the robot touching the warehouse ceiling while performing cargo handling tasks at different locations. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 A schematic diagram of a warehouse shelving arrangement provided for an embodiment of this application;

[0029] Figure 2 This is an application scenario diagram of a goods retrieval method provided in an embodiment of this application;

[0030] Figure 3 A schematic flowchart illustrating a cargo container handling method provided in an embodiment of this application;

[0031] Figure 4 A flowchart illustrating another cargo container handling method provided in this application embodiment;

[0032] Figure 5 A schematic diagram of a first sensor provided in an embodiment of this application;

[0033] Figure 6 A schematic diagram of a shelf height indicator provided for an embodiment of this application;

[0034] Figure 7 A schematic diagram of a second sensor provided in an embodiment of this application;

[0035] Figure 8 A schematic diagram of another warehouse shelving arrangement provided for an embodiment of this application;

[0036] Figure 9 A flowchart illustrating yet another cargo container handling method provided in this application embodiment;

[0037] Figure 10 A schematic flowchart illustrating another cargo container handling method provided in this application embodiment;

[0038] Figure 11 A schematic diagram of another second sensor provided in an embodiment of this application;

[0039] Figure 12 A schematic flowchart illustrating another cargo container handling method provided in this application embodiment;

[0040] Figure 13 This is a schematic diagram of the planar decomposition of a three-dimensional map provided in an embodiment of this application;

[0041] Figure 14A schematic diagram of planar decomposition of another three-dimensional map provided in an embodiment of this application;

[0042] Figure 15 This is a schematic diagram of the planar decomposition of another three-dimensional map provided in an embodiment of this application;

[0043] Figure 16 A schematic flowchart illustrating another cargo container handling method provided in this application embodiment;

[0044] Figure 17 A schematic flowchart illustrating another cargo container handling method provided in this application embodiment;

[0045] Figure 18 A schematic diagram of a vertical distance provided for an embodiment of this application;

[0046] Figure 19 A schematic diagram illustrating another vertical distance provided in an embodiment of this application;

[0047] Figure 20 A schematic flowchart illustrating another cargo container handling method provided in this application embodiment;

[0048] Figure 21 This is a schematic diagram of a cargo container handling device provided in an embodiment of this application;

[0049] Figure 22 A schematic diagram of another cargo container handling device provided in the embodiments of this application;

[0050] Figure 23 This is a schematic diagram of a cargo handling system provided in an embodiment of this application;

[0051] Figure 24 This application provides a schematic diagram of the structure of a robot according to an embodiment of the present application.

[0052] Figure 25 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0053] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, and to make the above-mentioned objectives, features and advantages of the embodiments of this application more apparent and understandable, the technical solutions in the embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0054] Figure 1 This is a schematic diagram illustrating the arrangement of shelving in a warehouse, as provided in an embodiment of this application. Figure 1As shown, to facilitate robot management, smart warehousing systems typically use shelves of uniform height. However, for warehouses with irregularly shaped ceilings (e.g., triangular or circular dome shapes), the ceiling height varies at different locations. Setting all shelves to the same height would result in lower storage capacity and space utilization. For example, for... Figure 1 In the case of a triangular-top warehouse, the top height in the middle of the warehouse is relatively high, while the top height on both sides is relatively low. If the height of the shelves in the warehouse is the same, the shelf height needs to be arranged based on the lowest top height in the warehouse. This results in a lot of empty space in the higher top areas, leading to low storage capacity and space utilization of the warehouse.

[0055] To improve storage capacity and space utilization in warehouses (such as irregularly shaped warehouses), shelves of varying heights can be installed based on the ceiling height at different locations within the warehouse. For example, taller shelves can be installed at locations with higher ceilings, and shorter shelves at locations with lower ceilings. However, when robots are performing cargo handling tasks on shelves of different heights, the height of the lifting mechanism needs to be continuously adjusted according to the shelf height and warehouse height to prevent the robot's lifting mechanism from touching the warehouse ceiling and causing damage to the robot.

[0056] In some examples, for irregularly shaped warehouses, the height of the robot's lifting mechanism can be controlled by manually configuring the warehouse height and shelf height. For instance, users can create the height of each shelf in the map information of the Robot Management System (RMS) to control the robot to perform box handling tasks on shelves at different heights. However, manually configuring shelf heights is prone to errors, which can lead to significant financial losses and pose safety hazards such as items falling from higher positions.

[0057] To address the aforementioned problems, this application provides a box handling method, system, and readable storage medium. A robot-controlled detection device detects height parameters at multiple locations within a warehouse and sends these height parameters to an electronic device. This allows the electronic device to generate a three-dimensional map of the warehouse based on the height parameters and an initial two-dimensional map. After receiving a box handling task generated from the three-dimensional map and order information, the robot travels along the path specified in the task to the target shelf and moves the target box from the target location to the target location, or vice versa. Because the three-dimensional map includes height parameters (such as warehouse height, height restrictions, and shelf height) for the robot at multiple locations within the warehouse, the box handling task generated from the three-dimensional map meets the height restrictions at different locations. This effectively prevents unsafe accidents caused by the robot touching the warehouse ceiling while performing box handling tasks at different locations.

[0058] Figure 2 This is a schematic diagram illustrating an application scenario of a goods-retrieving method provided in an embodiment of this application. Before describing the technical solution of the embodiment of this application, let's first combine... Figure 2 The application scenarios of the embodiments of this application will be described. For example... Figure 2 As shown, the application scenario of picking up goods involves the interaction between electronic device 11, robot 12 and workstation 13.

[0059] like Figure 2 As shown, after receiving an order, electronic device 11 can allocate the order to various workstations and generate a box handling task based on the 3D map and order information, sending the task to robot 12. Upon receiving the box handling task, robot 12 moves to the target shelf, retrieves the target box, and transports it to the workstation 13 for workers to pick items from. Alternatively, robot 12 can move to workstation 13, retrieve the target box, and place it in the target shelf's designated location. In some examples, robot 12 can also move the target box from one shelf to another, or from one location (such as a buffer location) to another (such as a storage location), thus achieving tasks such as sorting and shelving of goods on warehouse shelves through box handling between shelves. This embodiment does not limit this aspect.

[0060] In some examples, electronic device 11 can communicate with robot 12 via data. For example, electronic device 11 can communicate with robot 12 via local area network (LAN), wireless local area network (WLAN), and other networks.

[0061] In some examples, electronic device 11 can be a terminal device or a server. For example, when electronic device 11 is a terminal device, it can include, but is not limited to, various personal computers, laptops, smartphones, tablets, and portable wearable devices. When electronic device 11 is a server, it can be a standalone server or a server cluster consisting of multiple servers. This application does not limit this aspect.

[0062] Figure 3 This is a flowchart illustrating a cargo container handling method provided in an embodiment of this application. In some embodiments, Figure 3 The container handling method in the text can be applied to Figure 2 Robot 12 is used as the execution entity. Figure 3 As shown, the cargo container handling method includes:

[0063] In step S302, the robot control and detection device detects the height parameters of multiple locations in the warehouse and sends the height parameters of multiple locations to the electronic device so that the electronic device can obtain a three-dimensional map of the warehouse based on the height parameters and the initial two-dimensional map.

[0064] In some examples, the detection device may include ultrasonic sensors, laser sensors, photoelectric ranging sensors, etc. One or more detection devices can be installed on the robot, and different detection devices can be used to acquire different height parameters. For example, the detection devices can be positioned at different locations on the robot depending on the height parameter being detected. For instance, the detection device can be installed on the top of the robot, on the robot's lifting mechanism, etc.

[0065] For example, after initialization, the robot can operate in different locations in the warehouse. During its operation, it can collect height parameters at each location by controlling the detection device and send the collected height parameters to the electronic equipment.

[0066] For example, the height parameters collected by the detection device may include at least one of the following: shelf height, height limit height, and warehouse height. The warehouse height may include the height from the bottom surface of multiple locations within the warehouse to the top of the warehouse, and the shelf height may include the height of each beam in each shelf within the warehouse or the height of each layer of cargo boxes.

[0067] In some examples, the height parameter may also include the height from the top of the robot to the top of the warehouse, the height limit at various locations in the warehouse, and the height limit of the lifting mechanism when the robot is moving cargo boxes, etc., which are not limited in this application embodiment.

[0068] In some embodiments, before the robot-controlled detection device detects the height parameters of multiple locations in the warehouse, the method further includes: the robot receiving a mapping instruction sent by an electronic device, operating in the warehouse according to the mapping instruction, controlling the detection device to detect the height parameters of each location during operation, and sending the height parameters of each location to the electronic device.

[0069] For example, after receiving the height parameters of each location sent by the robot, the electronic device can associate these height parameters with the corresponding locations in the initial two-dimensional map to create a three-dimensional map. In some examples, the electronic device can store the created three-dimensional map. The initial two-dimensional map may include information such as the coordinates of each shelf in the warehouse and the coordinates of the robot's running path.

[0070] For example, when an electronic device receives the height parameter of a location, it can find the location coordinates corresponding to that location on an initial two-dimensional map, and then mark and associate the height parameter of that location with the coordinates of that location on the initial two-dimensional map to generate a three-dimensional map.

[0071] Figure 4 This is a schematic diagram illustrating another cargo container handling method provided in an embodiment of this application. Figure 4 As shown, step S302 specifically includes:

[0072] Step S3022: When the robot is running in the warehouse, control the first sensor to detect the shelf height among the height parameters of multiple locations in the warehouse.

[0073] Figure 5 This is a schematic diagram of a first sensor provided in an embodiment of this application. In some embodiments, such as Figure 5 As shown, the detection device may include a first sensor installed on the robot's box-retrieving device.

[0074] In some examples, the first sensor may include a spot sensor, a camera, or any of the following: a 1D, 2D, or 3D sensor.

[0075] For example, the shelf height detected by the first sensor may include the height of each beam in the shelf.

[0076] In some examples, the robot can control a first sensor to detect the height parameters of each beam on each shelf as it moves through the various aisles in the warehouse. The beam height parameters can include at least one of beam height markings, beam height information, and cargo box height information. For example... Figure 6As shown, each beam on the shelf can be equipped with a height indicator, which can include a QR code, barcode, or similar identifier. Each height indicator carries the height information of the corresponding beam, allowing the user to determine the beam's height.

[0077] In step S3024, the robot operates in the warehouse and controls the second sensor to detect height information and / or height limit in the height parameters of multiple locations.

[0078] Figure 7 This is a schematic diagram of a second sensor provided in an embodiment of this application. In some embodiments, such as... Figure 7 As shown, the detection device may also include a second sensor located on top of the robot's lifting mechanism.

[0079] In some examples, the second sensor may include any one of a spot-shot sensor, a 1D, 2D, or 3D sensor.

[0080] For example, the height information detected by the second sensor includes the warehouse height. For instance, when a robot is operating in a warehouse, the second sensor can be controlled to detect the warehouse height at various locations, or it can be controlled to acquire the height limit at different locations, or it can be controlled to simultaneously detect both the warehouse height and the height limit at various locations.

[0081] In some examples, the second sensor can obtain the height limit by detecting height limit signs. These height limit signs can be signs indicating the maximum extension height of the lifting mechanism at the current position, the maximum height the robot can pass through at the current position, or the height limit of the lifting mechanism at each shelf level. Through these height limit signs, the maximum extension height of the lifting mechanism at the current position, the maximum height the robot can pass through at the current position, and the maximum height of each shelf level can be obtained. For example, height limit signs can include QR codes, barcodes, etc.

[0082] For example, after obtaining the height parameters of each location sent by the robot, the electronic device can deploy shelves in the warehouse based on the height parameters.

[0083] In some embodiments, the warehouse is equipped with multiple shelves for storing multiple boxes; the deployment method of the multiple shelves and the storage height of the multiple boxes on the shelves are determined according to the warehouse height and / or height limit; wherein, the deployment method of the multiple shelves includes the deployment location of the multiple shelves in the warehouse and the shelf height of the multiple shelves.

[0084] Figure 8 This is a schematic diagram of another warehouse shelving deployment provided in an embodiment of this application, as shown below. Figure 8As shown, electronic devices can determine the deployment method of shelves in different locations in the warehouse based on the warehouse height and / or height limit.

[0085] For example, when deploying shelves in different locations within a warehouse, the detected height parameters of those locations (such as the warehouse height) can be sent to electronic devices. These devices can then determine the maximum height of the shelves that can be placed at that location based on these height parameters. The electronic devices can determine the shelf placement based on the shape of the warehouse and a predetermined height allowance at the top. The maximum height or storage height of the shelves can be adjusted and adapted to the warehouse's shape.

[0086] Therefore, by controlling the height information and / or height limit height collected from multiple locations by the second sensor, the robot achieves automatic collection of warehouse height limit height information or location information. This reduces manual configuration and avoids or minimizes manual operation, thereby avoiding configuration errors and high dependence on experience and subjectivity, improving the stability of the system and equipment, as well as the safety of the robot, and reducing losses. It also reduces the labor intensity of on-site system implementation and improves work efficiency.

[0087] In step S304, the robot receives a cargo handling task sent by an electronic device. The cargo handling task is generated based on a 3D map and order information. The cargo handling task includes the travel path, the target shelf, and the target storage location.

[0088] In some embodiments, the cargo handling task can be generated by an electronic device. For example, the electronic device can generate a cargo handling task based on a created 3D map and received order information, and send the cargo handling task to a robot so that the robot can execute the cargo handling task. Alternatively, the cargo handling task can also be generated by the robot. For example, when the robot receives order information, it can retrieve a 3D map from the electronic device, and after obtaining the 3D map, generate a cargo handling task based on the obtained 3D map and order information, and execute the cargo handling task. This application embodiment does not specifically limit the generation of cargo handling tasks; this application embodiment can be illustrated by taking the generation of cargo handling tasks by an electronic device as an example.

[0089] In some examples, once the electronic device receives order information, it can determine the target cargo box to be moved based on the order information. Then, based on a 3D map, it can plan the robot's travel path, target shelf, and target storage location for moving the target cargo box. The travel path can include coordinate information of each position during the journey, warehouse height, height limit, coordinate information of the target shelf, and height information of the target storage location.

[0090] In other examples, after receiving a loading or sorting task, the electronic device can also determine the target location of the target cargo box that needs to be moved, and based on the location of the target cargo box in the 3D map, determine the driving path for performing the cargo box moving task, the location of the target shelf, the height information of the target cargo box, the height information of the shelf, etc.

[0091] In step S306, the robot travels to the target shelf based on the travel path and moves the target box from the target location to the target position, or moves the target box to the target location.

[0092] In some examples, the robot operates based on the travel path in the cargo handling task. Upon reaching the target shelf, it can adjust the lifting mechanism to move the cargo based on the height corresponding to the target location, and control the cargo retrieval device to pick up the target cargo from the target location and transport it to the target position. The target location can include a workstation or a target location on a shelf.

[0093] In some embodiments, the robot determines the height parameters corresponding to each position in the target operating channel in the 3D map based on the target operating channel in the driving path; wherein, the 3D map includes the height parameters corresponding to multiple positions in each operating channel; during the process of the robot driving to the target shelf, the robot adjusts the height of the robot's lifting mechanism based on the height parameters corresponding to each position in the target operating channel, so as to transport the target cargo box of the target location to the target location, or to transport the target cargo box to the target location.

[0094] In some examples, as the robot travels through multiple aisles in a warehouse, it can collect height parameters at multiple locations within each aisle, including warehouse height, shelf height, and height restrictions, and send these parameters to electronic devices. The electronic devices then correlate these height parameters with the coordinates of the corresponding locations within the aisles in an initial two-dimensional map to obtain a three-dimensional map. This three-dimensional map includes the height parameters for each location within the aisles.

[0095] In some embodiments, as the robot travels to the target shelf, the height of the robot's lifting mechanism is adjusted based on the height parameters corresponding to each position in the target running channel. This includes adjusting the height of the robot's lifting mechanism based on at least one of the shelf height, height limit height, and warehouse height corresponding to each position in the target running channel.

[0096] In some examples, after generating a cargo handling task, the electronic device can determine the target operating channel corresponding to the travel path in the cargo handling task based on a 3D map, determine the height parameters of each position in the target operating channel, and send the height parameters corresponding to the target operating channel to the robot. When the robot moves to a certain position, it can adjust the height of its lifting mechanism according to the received height parameters of that position, thereby effectively avoiding collisions between the robot and other situations in the operating channel.

[0097] In some embodiments, during the process of a robot handling a target cargo box, a height restriction instruction sent by an electronic device based on a 3D map can be obtained. This height restriction instruction is used to indicate the height restriction location in the warehouse.

[0098] For example, after creating a 3D map, the electronic device can set height restriction commands for specific locations (such as height-restricted locations) based on height parameters at different locations. When the robot performs a cargo handling task and reaches a height-restricted location based on its travel path, it can send a height restriction command to the robot. The robot can then adjust the extension height of its lifting mechanism based on this height restriction command.

[0099] In some examples, during the process of a robot carrying a target container, upon receiving a height limit command from an electronic device, the robot can control the extension and retraction of its lifting mechanism based on the maximum height it can traverse at its current position, ensuring that the lifting mechanism's height does not exceed this maximum height. This enables real-time monitoring of the robot's handling process and allows for the determination of the maximum height at each position based on a 3D map, preventing the robot from hitting the ceiling in irregularly shaped warehouses with varying heights.

[0100] In some examples, height restriction commands can be set at height-restricted locations along the cargo handling task's path. This allows the robot to automatically recognize the height restriction command and adjust the height of its lifting mechanism when it reaches a height-restricted location. The height-restricted location is the position where a height restriction warning is required.

[0101] Figure 9 This is a flowchart illustrating another cargo container handling method provided in an embodiment of this application, as shown below. Figure 9 As shown, after step S306, the cargo container handling method further includes:

[0102] Step S502: During the process of the robot performing the cargo handling task, a collision signal is detected by a collision switch.

[0103] Step S504: Upon receiving a collision signal, adjust the height of the lifting mechanism based on the collision signal.

[0104] In some embodiments, the detection device further includes a collision switch disposed on the robot's lifting mechanism. This collision switch is used to detect an expansion signal. In some examples, the collision signal may be a signal triggered when the robot's lifting mechanism collides with an obstacle in the warehouse.

[0105] For example, when an electronic device generates a cargo handling task based on a 3D map, the travel path may include height limit markers at multiple locations to indicate the maximum height at those locations. In some examples, when the robot is performing a cargo handling task, a collision switch detects a collision and triggers a collision signal, controlling the lifting mechanism to adjust its extension height based on the height limit markers in the travel path.

[0106] In this embodiment, the robot uses a collision switch to detect whether the height of the robot's lifting mechanism needs to be adjusted so that the robot can pass through its current position, thus preventing the robot from being unable to complete the cargo handling task or from causing further damage to the robot if it forces its way through.

[0107] Once the robot reaches the target shelf and completes the height verification to obtain the maximum lifting height of the lifting mechanism, it can perform tasks such as retrieving the target box from the target shelf or placing the target box in the target storage location. Based on the obtained maximum lifting height, the robot can adopt different lifting mechanism control methods to achieve lifting mechanism control and avoid touching the top of the warehouse.

[0108] Figure 10 This is a flowchart illustrating another cargo container handling method provided in an embodiment of this application. Figure 10 As shown, step S306 specifically includes:

[0109] In step S602, the robot sends height scan data to the electronic device so that the electronic device can determine the vertical distance from the second sensor to the top of the warehouse based on the height scan data; and determine the maximum lifting height of the lifting mechanism based on the vertical distance.

[0110] Figure 11 A schematic diagram of another second sensor provided in the embodiments of this application. In some embodiments, such as... Figure 11 As shown, the second sensor is installed in the robot's lifting mechanism.

[0111] For example, the robot controls a second sensor to detect vertical height scan data, which includes vertical height scan data from the second sensor to the top of the warehouse. For instance, if the second sensor is a LiDAR, the vertical height scan data can extend to the point cloud data of a preset vertical scan area on the top of the warehouse, i.e., the outline information of the top of the warehouse.

[0112] In some examples, after acquiring the vertical height scan data of the robot's current position, the height scan data is sent to the electronic device. The electronic device can process this height scan data to determine the vertical distance from the second sensor to the top of the warehouse. Based on this vertical distance, the electronic device can then determine the maximum extension distance of the robot's lifting mechanism to prevent the robot's lifting mechanism from touching the top of the warehouse and causing damage to the robot.

[0113] In step S604, the robot receives the maximum lifting height of the lifting mechanism sent by the electronic device.

[0114] For example, once the electronic device determines the maximum lifting height of the robot's lifting mechanism, it can send that maximum lifting height to the robot, and the robot receives the maximum lifting height of the lifting mechanism sent by the electronic device.

[0115] In some examples, once the robot receives the maximum lifting height sent by the electronic device, it can adjust the extension distance of the lifting mechanism at the current position in real time based on that maximum lifting height to safely pass through the current position and avoid the extension mechanism hitting the top, thus preventing an unsafe accident.

[0116] In this embodiment, a second sensor installed on the robot's lifting mechanism can detect the robot's vertical height scan data at its current position and send it to an electronic device. The electronic device then determines the maximum lifting height of the lifting mechanism based on this data, completing the height verification for the current position. After receiving the maximum lifting height, the robot adjusts the height of its lifting mechanism in real time, effectively preventing the lifting mechanism from touching the top of the warehouse and causing unsafe accidents.

[0117] For example, when the robot reaches the target shelf in the cargo handling task, the lifting mechanism can be controlled to extend to the maximum lifting height, and the cargo retrieval device can be controlled to move the target cargo box in the target location to the target position, or move the target cargo box to the target location.

[0118] Step S606A: Control the lifting mechanism to extend longitudinally based on the maximum lifting height. At the same time, control the robot's box-picking device to lift and lower to the height of the target cargo location, and move the target cargo box of the target cargo location to the target position, or move the target cargo box to the target cargo location. The maximum lifting height is the maximum extension distance of the telescopic frame in the lifting mechanism.

[0119] For example, the maximum lifting height is the maximum extension distance of the telescopic frame in the lifting mechanism. This means that when the robot's lifting mechanism reaches its maximum extension state, the robot's height will not reach the warehouse height (or the height limit). Therefore, the robot can control the lifting mechanism to extend longitudinally at will. When the electronic device determines that the maximum lifting height is the maximum extension distance of the telescopic frame in the lifting mechanism, that is, when the electronic device determines that the height of the lifting mechanism at its maximum extension is less than the warehouse height, it can send the control mode for controlling the robot's lifting mechanism and the lifting device to rise to the robot. When the robot reaches the target shelf, it can control the extension and retraction of the lifting mechanism and the lifting and lowering of the lifting device according to the received control mode. Alternatively, after the robot receives the maximum lifting height, it can compare it with the maximum extension distance of the telescopic frame in the lifting mechanism preset in the robot. If the maximum lifting height is the same as the maximum extension distance of the telescopic frame in the lifting mechanism, then the lifting mechanism is controlled to extend longitudinally based on the maximum lifting height, and at the same time, the robot's lifting device is controlled to rise and fall to the height of the target storage location.

[0120] In some examples, where the maximum lifting height is the maximum extension distance of the telescopic frame in the lifting mechanism, the robot and lifting mechanism are controlled to extend upwards while the retrieval device rises along the lifting mechanism to the height of the target storage location. Then, when the lifting mechanism and retrieval device stop rising, the retrieval device can retrieve the target container from the target storage location and transport it to the target position (e.g., a workstation). Alternatively, when the robot performs a container handling task to transport the target container to the target storage location, the retrieval device is controlled to place the transported target container onto the target goods when the lifting mechanism and retrieval device stop rising.

[0121] Therefore, when the maximum lifting height is the maximum extension distance of the telescopic frame in the lifting mechanism, the robot's lifting mechanism, even when fully extended, will not touch the top of the warehouse, ensuring the safety of the robot in performing its tasks. Thus, controlling the lifting mechanism to extend longitudinally based on the maximum lifting height while simultaneously controlling the robot's box-retrieving device to rise and fall to the target storage location can improve the robot's efficiency in handling boxes and shorten the time required to retrieve the target box.

[0122] Step S606B: After the lifting mechanism extends longitudinally based on the maximum lifting height, control the robot's box-picking device to lift up to the height of the target cargo location, and control the box-picking device to move the target cargo box in the target cargo location to the target position, or move the target cargo box to the target cargo location; wherein, the maximum lifting height is the vertical distance.

[0123] In some examples, when the maximum lifting height is the vertical distance, it means that if the lifting mechanism extends to its maximum height, it will exceed the top of the warehouse. Therefore, setting the maximum lifting height of the robot lifting mechanism to the vertical distance between the robot lifting mechanism and the top of the warehouse can prevent collisions caused by the top of the robot exceeding the top of the warehouse.

[0124] For example, when the robot receives the maximum lifting height, it can compare it with the maximum extension distance of the telescopic frame in the pre-set lifting mechanism in the robot. If the maximum lifting height is less than the maximum extension distance of the telescopic frame in the lifting mechanism (at this time, the maximum lifting height is the vertical distance), then the lifting mechanism is controlled to extend longitudinally to the target height based on the maximum lifting height, and then the robot's box-picking device is controlled to lift and lower to the height of the target cargo position.

[0125] Therefore, when the maximum lifting height is the vertical distance, it is necessary to control the lifting mechanism to extend longitudinally based on the maximum lifting height. When it is determined that the lifting mechanism will not touch the top of the warehouse, the robot's box-picking device should be controlled to rise and fall to the height of the target storage location. This avoids the situation where the box-picking device and the mechanical device rise simultaneously, and the lifting mechanism exceeds the safe height, making it impossible for the box-picking device to reach the height of the target storage location.

[0126] Therefore, in this embodiment, the robot control detection device detects height parameters at multiple locations in the warehouse and sends these height parameters to an electronic device, enabling the electronic device to obtain a three-dimensional map of the warehouse based on the height parameters and an initial two-dimensional map. The robot receives a cargo handling task generated based on the three-dimensional map and order information, and travels to the target shelf based on the path in the cargo handling task, moving the target cargo box from the target location to the target location, or moving the target cargo box to the target location. Since the three-dimensional map includes height parameters for multiple locations (such as at least one of warehouse height, shelf height, and height restriction), the cargo handling task generated based on the three-dimensional map can meet the height restrictions of different locations, effectively preventing unsafe accidents such as the robot touching the warehouse top when performing cargo handling tasks at different locations.

[0127] The above embodiments illustrate the cargo handling method provided in this application by taking a robot as the executing entity. The following describes the method using a robot as the executing entity... Figure 2 The method for handling cargo boxes provided in this application will be illustrated using electronic devices as an example.

[0128] Figure 12 This is a flowchart illustrating another cargo container handling method provided in an embodiment of this application. In some embodiments, such as Figure 12 As shown, the cargo container handling method includes:

[0129] In step S702, the electronic device receives height parameters of multiple locations in the warehouse sent by the robot.

[0130] For example, after the robot control and detection device collects height parameters from multiple locations, it sends these height parameters to an electronic device. In other words, the electronic device receives the height parameters from the robot for multiple locations within the warehouse. These height parameters indicate the relevant height of each location within the warehouse.

[0131] In some examples, after initialization, the robot can operate within the warehouse, collecting height parameters at various locations via detection devices and transmitting these parameters to electronic equipment.

[0132] In some examples, electronic devices can send mapping instructions to robots. After receiving the mapping instructions from the electronic devices, the robots can run in the warehouse and, during the operation, control the detection devices to detect the height parameters at various locations and send them to the electronic devices.

[0133] In step S704, the electronic device creates a three-dimensional map of the warehouse based on the height parameters of multiple locations and the initial two-dimensional map.

[0134] Once the electronic device receives the height parameters detected by the robot at various locations while it is operating in the warehouse, it can associate these height parameters with the corresponding locations in the initial two-dimensional map to create a three-dimensional map, and then store this three-dimensional map. The initial two-dimensional map includes the coordinates of each shelf and the coordinates of multiple locations within each aisle.

[0135] Creating a 3D map by associating the height parameter with the corresponding location in the initial 2D map can be achieved by finding the location of each position in the initial 2D map, and then marking and associating the height parameter with the height of the initial 2D map to generate the 3D map.

[0136] In some embodiments, creating a three-dimensional map of the warehouse based on height parameters of multiple locations and an initial two-dimensional map includes: associating at least one of the height information of multiple locations, height limit, and shelf height with corresponding locations in each running channel of the initial two-dimensional map to create a three-dimensional map.

[0137] For example, height parameters may include at least one of height information, height limit, and shelf height. In some examples, height information includes the warehouse height, and shelf height includes the height of each beam in the shelf. The height limit can be obtained through height limit marking information. This height limit marking information may be, for example, a marking indicating the maximum extension height of the lifting mechanism at the current location, a marking indicating the maximum height the robot at the current location can pass through, and a marking indicating the height limit of the lifting mechanism at each shelf location. For example, height limit markings may include QR codes, barcodes, etc.

[0138] In some examples, when an electronic device acquires any one of the following height parameters—height information, height limit, and shelf height—it can associate that height parameter with the corresponding position in each operating channel of the initial two-dimensional map to create a three-dimensional map. Alternatively, when the electronic device acquires any two of these height parameters, it can associate those two parameters with the corresponding positions in each operating channel of the initial two-dimensional map to create a three-dimensional map. Or, when the electronic device acquires all three height parameters—height information, height limit, and shelf height—it can associate these three height parameters with the corresponding positions in each operating channel of the initial two-dimensional map to create a three-dimensional map.

[0139] In some embodiments, the electronic device can associate the height parameters of multiple received locations with corresponding locations in each running channel in the warehouse. Thus, when the robot runs to the target running channel, the electronic device can determine the corresponding height parameters based on each location in the target running channel and send them to the robot, so that the robot can adjust the height of its lifting mechanism according to the height parameters of that location.

[0140] In some examples, such as Figure 13 As shown, the robot's travel path includes multiple operating channels, namely lanes 1-1, 1-2, 1-3, 1-4, and 1-5. The robot's detection device collects data from each lane, as well as the shelf heights at a specific location within each lane, which are H1, H2, H3, H4, and H5, respectively. The robot sends the collected location information and the corresponding shelf heights H1, H2, H3, H4, and H5 to an electronic device. The electronic device then associates these shelf heights with the location information of a specific location in lanes 1-1, 1-2, 1-3, and 1-4 in the initial two-dimensional map, creating a three-dimensional map.

[0141] In other examples, such as Figure 14 As shown, when the robot's travel path includes multiple lanes 1-1, 1-2, 1-3, 1-4, and 1-5, the robot's detection device collects the height information (e.g., warehouse height) of each lane at a specific location, which are A1, A2, A3, A4, and A5, respectively. The robot sends the collected location information and corresponding height information A1, A2, A3, A4, and A5 to an electronic device. The electronic device then marks and associates this height information A1, A2, A3, A4, and A5 with the location information of a specific location in lanes 1-1, 1-2, 1-3, and 1-4 in the initial two-dimensional map, creating a three-dimensional map.

[0142] In some other examples, such as Figure 15As shown, when the robot's travel path includes multiple running channels, namely lanes 1-1, 1-2, 1-3, 1-4, and 1-5, the robot's detection device collects the location information of each lane, as well as the shelf heights at a certain location in each lane, which are h1 and h2, respectively. The robot sends the collected location information and the corresponding shelf heights h1 and h2 to the electronic device. The electronic device then marks and associates the shelf heights h1 and h2 with the location information of a certain location in lanes 1-1, 1-2, 1-3, and 1-4 in the initial two-dimensional map, creating a three-dimensional map.

[0143] In step S706, the electronic device generates a cargo handling task based on the 3D map and order information.

[0144] The cargo handling task includes the driving route, target shelf, and target storage location.

[0145] In step S708, the electronic device sends a cargo box handling task to the robot, so that the robot runs to the target shelf in the cargo box handling task based on the travel path in the cargo box handling task, and moves the target cargo box corresponding to the target location in the cargo box handling task to the target location, or moves the target cargo box to the target location.

[0146] In some examples, when electronic devices send a cargo handling task to a robot based on a 3D map, the planned target cargo location will not exceed the highest reachable location at the current position, based on the height parameter in the map.

[0147] For example, once an electronic device obtains order information or loading information, it can generate a related goods handling task based on a 3D map. The goods handling task includes a travel path, a target shelf, and a target storage location. The travel path also includes height parameters and height restriction signs for each location, as well as the height information of the target shelf and the target storage location.

[0148] In this embodiment, the robot control and detection device detects height parameters at multiple locations in the warehouse and sends these height parameters to an electronic device, enabling the electronic device to generate a three-dimensional map of the warehouse based on the height parameters and an initial two-dimensional map. After receiving a cargo handling task generated by the electronic device based on the three-dimensional map and order information, the robot travels to the target shelf according to the path in the cargo handling task and moves the target cargo box from the target location to the target location, or moves the target cargo box to the target location. Because the three-dimensional map includes height parameters for multiple locations (such as warehouse height, shelf height, and height restriction), the cargo handling task generated based on the three-dimensional map can meet the height restrictions of different locations, effectively preventing unsafe accidents such as the robot touching the warehouse top when performing cargo handling tasks at different locations.

[0149] After the robot reaches the target shelf, in order to further ensure the safety of the robot in performing the cargo handling task, a height check can be performed. An implementation example is given to illustrate how to perform the height check.

[0150] Figure 16 This is a flowchart illustrating another cargo container handling method provided in an embodiment of this application. Figure 16 As shown, in some embodiments, step S708 specifically includes:

[0151] Step S802: Obtain the height scan data sent by the robot.

[0152] In some embodiments, the height information collected by the robot's detection device at multiple locations also includes height scan data from the detection device to the top of the warehouse. That is, the height scan data is the data from the robot's detection device to the top of the warehouse when the robot reaches the target shelf.

[0153] For example, when the robot reaches the target shelf, the detection device can be controlled to scan in the vertical direction. After obtaining the height scan data, it is sent to the electronic device, that is, the electronic device obtains the scan data sent by the robot.

[0154] Step S804: Based on the height scan data, determine the vertical distance from the robot's detection device to the top of the warehouse.

[0155] For example, after acquiring the height scan data, the height scan data is processed to obtain the vertical distance from the robot's detection device to the top of the warehouse.

[0156] Step S806: Determine the maximum lifting height of the robot's lifting mechanism based on the vertical distance.

[0157] For example, the vertical distance can be compared with a preset safety distance, and the maximum lifting height of the robot's lifting mechanism can be determined based on the comparison result. If the vertical distance is greater than the preset safety distance, the maximum distance at which the robot's lifting mechanism is fully extended can be used as the maximum lifting height. If the vertical distance is less than or equal to the preset safety distance, the safety distance is used as the maximum lifting height of the lifting mechanism.

[0158] Figure 17 This is a schematic diagram of another cargo container handling method provided in the embodiments of this application, as shown below. Figure 17 As shown, in some embodiments, step S806 specifically includes:

[0159] S8062, obtain the height difference between the installation height of the detection device and the top of the robot when the lifting mechanism is in its maximum extension state.

[0160] For example, this height difference can be the difference R obtained by subtracting the installation height S of the detection device from the top height W of the robot when the robot's lifting mechanism is extended to its maximum height. The electronic device can pre-store this height difference. The installation height of the detection device can be the height of the robot's detection device mounting point from the ground.

[0161] S8064A: If the vertical distance is greater than or equal to the height difference, the maximum extension distance of the lifting mechanism shall be determined as the maximum lifting height of the lifting mechanism.

[0162] For example, such as Figure 18 As shown, when the vertical distance P1 is greater than or equal to the height difference R1, it indicates that the distance from the detection device to the top of the warehouse is greater than or equal to the maximum distance that the robot can extend. Therefore, when the robot extends to the maximum distance, it will not touch the top of the warehouse. Thus, the maximum extension distance of the lifting mechanism can be determined as the maximum lifting height of the lifting mechanism.

[0163] S8064B: If the vertical distance is less than the height difference, then the vertical distance is determined as the maximum lifting height of the lifting mechanism.

[0164] For example, such as Figure 19 As shown, when the vertical distance P2 is less than the height difference R2, it indicates that the distance from the detection device to the top of the warehouse is less than the maximum distance that the robot can extend. Therefore, when the robot extends to its maximum, it will hit the top of the warehouse. Thus, the maximum extension distance of the lifting mechanism can be determined as the maximum lifting height of the lifting mechanism, which can prevent the robot from hitting the top.

[0165] Therefore, by detecting the height scan data of the robot at the top vertically of its current position and sending it to the electronic device, the electronic device can determine the maximum lifting height of the lifting mechanism and complete the height verification of the current position. After the robot receives the maximum lifting height of the lifting mechanism, it can avoid the lifting mechanism from touching the top of the warehouse and causing an unsafe accident.

[0166] Step S808: The maximum lifting height of the lifting mechanism is sent to the robot so that the robot controls the longitudinal extension and retraction of the lifting mechanism based on the maximum lifting height to move the target cargo box of the target location to the target position, or to move the target cargo box to the target location.

[0167] For example, the step of determining whether the maximum lifting height is the maximum extension distance of the telescopic frame in the lifting mechanism can be achieved by the electronic device determining that the maximum lifting height is the maximum extension distance of the telescopic frame in the lifting mechanism, and then sending the control mode for controlling the lifting mechanism and the box-retrieving device of the robot to the robot.

[0168] When the maximum lifting height is the maximum extension distance of the telescopic frame in the lifting mechanism, the lifting mechanism of the robot extends longitudinally based on the maximum lifting height. At the same time, the box-picking device of the robot is raised and lowered to the height of the target cargo location, and the target cargo box of the target cargo location is moved to the target position, or the target cargo box is moved to the target cargo location.

[0169] When the maximum lifting height is the vertical distance, the control lifting mechanism extends longitudinally based on the maximum lifting height, and controls the robot's box-picking device to lift up to the height of the target cargo location. The control box-picking device then moves the target cargo box from the target cargo location to the target position, or moves the target cargo box to the target cargo location.

[0170] Therefore, the electronic device determines the vertical distance from the robot's detection device to the top of the warehouse based on the vertical height scan data sent by the robot. It then determines the maximum lifting height of the lifting mechanism based on the vertical distance, so as to control the robot to lift and lower the lifting mechanism based on the maximum lifting height and ensure the safety of the robot in performing cargo handling tasks.

[0171] For the convenience of those skilled in the art, Figure 20 This is a schematic diagram of another cargo container handling method provided in the embodiments of this application, as shown below. Figure 20 As shown, the cargo container handling method includes:

[0172] Step S101: The robot operates in the warehouse and controls the first sensor to detect the height of each shelf in the warehouse.

[0173] The shelf height includes the height of the beams on each shelf level.

[0174] In step S102, the robot operates in the warehouse and controls the second sensor to detect height information and / or height limits at multiple locations in the warehouse.

[0175] The height information includes the warehouse height, and the height restriction can be obtained through height restriction signs.

[0176] In step S103, the robot sends at least one of the following height parameters to the electronic device: shelf height, height information, and height limit height at multiple locations.

[0177] In step S104, the electronic device associates at least one of the shelf height, height information, and height limit at multiple locations with the coordinate data of the corresponding location in the initial two-dimensional map to create a three-dimensional map.

[0178] In step S105, the electronic device generates a cargo handling task based on the 3D map and order information.

[0179] The cargo handling task includes the travel route, target shelf, and target storage location.

[0180] In step S106, the electronic device sends a cargo box handling task to the robot.

[0181] In step S107, the robot receives the cargo box handling task and performs the cargo box handling task.

[0182] In step S108, when the robot reaches the target shelf while running along the travel path, the second sensor is controlled to detect the vertical height scan data and send the height scan data to the electronic device.

[0183] In step S109, the electronic device determines the vertical distance from the second sensor to the top of the warehouse based on the height scan data.

[0184] In step S110, the electronic device acquires the height difference between the installation height of the detection device and the top of the robot when the lifting mechanism is in its maximum extension state.

[0185] In step S111, if the vertical distance is greater than or equal to the height difference, the electronic device determines the maximum extension distance of the lifting mechanism as the maximum lifting height of the lifting mechanism; if the vertical distance is less than the height difference, the electronic device determines the vertical distance as the maximum lifting height of the lifting mechanism.

[0186] Step S112: Receive the maximum lifting height of the lifting mechanism sent by the electronic device.

[0187] In step S113, when the maximum lifting height is the maximum extension distance of the telescopic frame in the lifting mechanism, the lifting mechanism is controlled to extend longitudinally based on the maximum lifting height. At the same time, the robot's box-picking device is controlled to lift up to the height of the target cargo location, and the target cargo box in the target cargo location is moved to the target position, or the target cargo box is moved to the target cargo location.

[0188] In step S114, when the maximum lifting height is the vertical distance, when the robot reaches the target shelf, the lifting mechanism is controlled to extend longitudinally based on the maximum lifting height, and the robot's box-picking device is controlled to lift up to the height of the target storage location. The box-picking device is then controlled to move the target box from the target storage location to the target position, or to move the target box to the target storage location.

[0189] It should be noted that the processes of steps S101 to S114 have been described in the above embodiments. Therefore, for the specific limitations of the cargo box handling method in this embodiment and the beneficial effects that can be achieved, please refer to the limitations of the cargo box handling method above. To avoid repetition, they will not be repeated here.

[0190] Based on the same inventive concept, this application also provides a cargo handling device for implementing the cargo handling method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of the one or more cargo handling device embodiments provided below can be found in the limitations of the cargo handling method above, and will not be repeated here. Specifically, Figure 21 This is a schematic diagram of a cargo box handling device according to an embodiment of this application. Figure 21 As shown, the device includes: a control module 161, a task receiving module 162, and a transport module 163. Wherein:

[0191] The control module 161 is used to control the detection device to detect the height parameters of multiple locations in the warehouse and send the height parameters of multiple locations to the electronic device so that the electronic device can obtain a three-dimensional map of the warehouse based on the height parameters and the initial two-dimensional map.

[0192] The task receiving module 162 is used to receive cargo handling tasks, which are generated based on a 3D map and order information. The cargo handling task includes the driving route, target shelf, and target storage location.

[0193] The handling module 163 is used to travel to the target shelf based on the driving path and move the target container from the target location to the target position, or move the target container to the target location.

[0194] In some embodiments, the control module 161 is specifically used to: determine the height parameters corresponding to each position in the target running channel in the three-dimensional map based on the target running channel in the driving path; wherein, the three-dimensional map includes the height parameters corresponding to multiple positions in each running channel; and adjust the height of the robot's lifting mechanism based on the height parameters corresponding to each position in the target running channel during the process of driving to the target shelf; the handling module 163 is used to transport the target cargo box of the target location to the target location, or to transport the target cargo box to the target cargo location.

[0195] In some embodiments, the height parameters corresponding to each position in the target running channel include at least one of the shelf height, height limit height, and warehouse height corresponding to each position. The control module 161 is specifically used to: adjust the height of the robot's lifting mechanism based on at least one of the shelf height, height limit height, and warehouse height corresponding to each position in the target running channel during the process of traveling to the target shelf.

[0196] In some embodiments, the detection device includes a first sensor disposed on the robot's box-picking device; the control module 161 is specifically configured to: when the robot is operating in the warehouse, control the first sensor to detect the shelf height among the height parameters of multiple locations in the warehouse, the shelf height including the height of each layer of beam in the shelf.

[0197] In some embodiments, the detection device includes a second sensor disposed on the robot's lifting mechanism. The control module 161 is specifically configured to: control the second sensor to detect height information and / or height limits in height parameters at multiple locations within the warehouse as the robot operates within the warehouse.

[0198] In some embodiments, the height information includes the warehouse height and / or vertical height scan data from the second sensor to the top of the warehouse.

[0199] In some embodiments, the warehouse is equipped with multiple shelves for storing multiple boxes; the deployment method of the multiple shelves and the storage height of the multiple boxes on the shelves are determined according to the warehouse height and / or height limit; the deployment method of the multiple shelves includes the deployment location of the multiple shelves in the warehouse and the shelf height of the multiple shelves.

[0200] In some embodiments, the height information includes height scan data. Specifically, the control module 161 is configured to: send height scan data to an electronic device, enabling the electronic device to determine the vertical distance from the second sensor to the top of the warehouse based on the height scan data, and to determine the maximum lifting height of the lifting mechanism based on the vertical distance.

[0201] In some embodiments, the device further includes a receiving module for receiving the maximum lifting height of the lifting mechanism sent by an electronic device. The control module 161 is specifically used to: control the longitudinal extension of the lifting mechanism based on the maximum lifting height when the robot reaches the target shelf; the handling module 163 is used to move the target cargo box from the target location to the target position, or to move the target cargo box to the target location.

[0202] In some embodiments, the control module 161 is specifically used to: control the lifting mechanism to extend longitudinally based on the maximum lifting height, and at the same time, control the robot's box-picking device to lift up to the height of the target storage location; the handling module 163 is used to transport the target box of the target storage location to the target position, or to transport the target box to the target storage location; wherein, the maximum lifting height is the maximum extension distance of the telescopic frame in the lifting mechanism.

[0203] In some embodiments, the control module 161 is specifically used to: control the lifting mechanism to extend longitudinally based on the maximum lifting height, and control the robot's box-picking device to lift up to the height of the target storage location; the handling module 163 is used to transport the target box of the target storage location to the target position, or to transport the target box to the target storage location; wherein, the maximum lifting height is the vertical distance.

[0204] In some embodiments, the detection device further includes a collision switch disposed on the lifting mechanism of the robot; the cargo handling device further includes a collision detection module, which is used to detect a collision signal through the collision switch during the robot's cargo handling task; the control module 161 is used to adjust the height of the lifting mechanism based on the collision signal when a collision signal is received.

[0205] For specific limitations and beneficial effects of cargo handling devices, please refer to the limitations of cargo handling methods mentioned above, which will not be repeated here.

[0206] Based on the same inventive concept, this application also provides another cargo container handling device for implementing the aforementioned cargo container handling method. Specifically, Figure 22 This is a schematic diagram of another cargo box handling device in an embodiment of this application. Figure 22 As shown, the device includes a parameter receiving module 171, a map creation module 172, a task generation module 173, and a task sending module 174. Wherein:

[0207] The parameter receiving module 171 is used to receive height parameters of multiple locations in the warehouse sent by the robot.

[0208] Map creation module 172 is used to create a 3D map of the warehouse based on the height parameters of multiple locations and an initial 2D map.

[0209] The task generation module 173 is used to generate cargo handling tasks based on the 3D map and order information. Each cargo handling task includes a travel route, a target shelf, and a target storage location.

[0210] The task sending module 173 is used to send a cargo box handling task to the robot, so that the robot can run to the target shelf in the cargo box handling task based on the driving path, and move the target cargo box corresponding to the target location to the target location, or move the target cargo box to the target location.

[0211] In some embodiments, the height parameters include at least one of height information, height limit, and shelf height; the map creation module 172 is specifically used to: associate at least one of the height information, height limit, and shelf height with the corresponding positions in each running channel of the initial two-dimensional map to create a three-dimensional map. The shelf height includes the height of each layer of beams in the shelf.

[0212] In some embodiments, height information includes the warehouse height and / or vertical height scan data from the robot's detection device to the top of the warehouse.

[0213] In some embodiments, the cargo handling device further includes: a scan data acquisition module, a vertical distance determination module, a lifting height determination module, and a lifting height transmission module. The scan data acquisition module acquires height scan data sent by the robot. The vertical distance determination module determines the vertical distance from the robot's detection device to the top of the warehouse based on the height scan data. The lifting height determination module determines the maximum lifting height of the robot's lifting mechanism based on the vertical distance. The lifting height transmission module transmits the maximum lifting height of the lifting mechanism to the robot, enabling the robot to control the lifting mechanism to extend longitudinally based on the maximum lifting height, thereby transporting the target cargo box from the target location to the target position, or transporting the target cargo box to the target location.

[0214] In some embodiments, the lifting height determination module is specifically used to: obtain the height difference between the installation height of the detection device and the top height of the robot when the lifting mechanism is in its maximum extension state; if the vertical distance is greater than or equal to the height difference, the maximum extension distance of the lifting mechanism is determined as the maximum lifting height of the lifting mechanism; if the vertical distance is less than the height difference, the vertical distance is determined as the maximum lifting height of the lifting mechanism.

[0215] For specific limitations and beneficial effects of cargo handling devices, please refer to the limitations of cargo handling methods mentioned above, which will not be repeated here.

[0216] Each module in the aforementioned cargo handling device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor within the electronic device, or stored in the memory of the electronic device as software, so that the processor can call and execute the corresponding operations of each module.

[0217] In a specific implementation, this application proposes a cargo container handling system, such as... Figure 23 As shown, the system includes a robot 12 and an electronic device 11.

[0218] Robot 12 is used to perform the steps of the cargo handling method with a robot as the execution subject in any of the above embodiments.

[0219] Electronic device 11 is used to perform the steps of the cargo handling method with electronic device as the execution subject in any of the above embodiments.

[0220] For specific limitations and beneficial effects of the cargo handling system, please refer to the limitations of cargo handling methods mentioned above, which will not be repeated here.

[0221] like Figure 24 The diagram shown is a structural schematic of a robot provided in this embodiment. The robot includes a processor, memory, communication interface, display screen, and input device connected via a system bus. The robot's processor provides computing and control capabilities. The robot's memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The robot's communication interface is used for wired or wireless communication with external terminals. Wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a cargo handling method. The robot's display screen can be an LCD screen or an e-ink screen. The robot's input device can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the robot's shell, or an external keyboard, touchpad, or mouse.

[0222] like Figure 25 The diagram shown is a schematic representation of the internal structure of an electronic device provided in this embodiment. This electronic device can be a server. It includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores altitude parameters and 3D map data. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements a cargo handling method.

[0223] Those skilled in the art will understand that Figure 23 and Figure 24 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the robots and electronic devices to which the present application is applied. Specific robots and electronic devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0224] In a specific implementation, embodiments of this application provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the method in any of the above embodiments.

[0225] In a specific implementation, this application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method in any of the above embodiments.

[0226] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application may include at least one of relational databases and non-relational databases. Non-relational databases may include, but are not limited to, blockchain-based distributed databases, etc. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., etc., and are not limited to these.

[0227] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0228] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for handling cargo containers, characterized in that, include: A robot control and detection device detects height parameters at multiple locations in the warehouse and sends these height parameters to an electronic device. The electronic device then associates the height parameters of each location with the coordinates of each location in an initial two-dimensional map to obtain a three-dimensional map of the warehouse. The detection device includes a first sensor mounted on the robot's box-retrieving device and a second sensor mounted on the robot's lifting mechanism. The height parameters include the shelf heights of each shelf in the warehouse detected by the first sensor, and the height information and / or height limits of multiple locations in the warehouse detected by the second sensor. The height information includes the warehouse height. The robot receives a cargo box handling task, which is generated based on the 3D map and order information, and includes a travel path, a target shelf, and a target storage location. Based on the target operating channel in the travel path, the robot determines the height information and / or height limit corresponding to each position in the target operating channel in the three-dimensional map, as well as the height of the target storage location; wherein, the three-dimensional map includes the height limit and / or warehouse height corresponding to multiple positions in multiple operating channels, as well as the height of each layer of beams in each shelf; As the robot travels to the target shelf, it determines the maximum lifting height of the lifting mechanism based on the height limit and / or height information corresponding to each position in the target running channel. When the robot reaches the target shelf, the lifting mechanism is controlled to extend longitudinally based on the maximum lifting height, and the robot's box-picking device is controlled to lift up to the height of the target storage location to pick up the target box at the target storage location, or to transport the target box to the target storage location; The robot control and detection device detects height parameters at multiple locations within the warehouse and sends these height parameters to an electronic device, including: When the robot controls the first sensor to run to the shelf corresponding to each running aisle in the warehouse, it detects the height parameters of each beam on each shelf to determine the height of each beam; wherein, the beam height parameters include at least one of beam height marking, beam height information and cargo box height information; the shelf height includes the height of each layer of beams in each shelf.

2. The method according to claim 1, characterized in that, The height information also includes the vertical height scan data from the second sensor to the top of the warehouse, detected by the second sensor.

3. The method according to claim 2, characterized in that, The warehouse is equipped with multiple shelves for storing multiple boxes; the deployment method of the multiple shelves and the storage height of the multiple boxes on the shelves are determined according to the height of the warehouse and / or the height limit; the deployment method of the multiple shelves includes the deployment position of the multiple shelves in the warehouse and the shelf height of the multiple shelves.

4. The method according to claim 2, characterized in that, Determining the maximum lifting height of the lifting mechanism based on the height limit and / or height information corresponding to each position in the target operating channel includes: The height scan data is sent to the electronic device so that the electronic device can determine the vertical distance from the second sensor to the top of the warehouse based on the height scan data; and determine the maximum lifting height of the lifting mechanism based on the vertical distance.

5. The method according to claim 1, characterized in that, The control of the lifting mechanism to extend longitudinally based on the maximum lifting height, and the control of the robot's box-retrieving device to lift and lower to the height of the target storage location, to retrieve the target box from the target storage location, or to transport the target box to the target storage location, includes: The lifting mechanism is controlled to extend longitudinally based on the maximum lifting height. At the same time, the robot's box-picking device is controlled to lift and lower to the height of the target cargo location, so as to transport the target cargo box of the target cargo location to the target position, or to transport the target cargo box to the target cargo location; wherein, the maximum lifting height is the maximum extension distance of the telescopic frame in the lifting mechanism.

6. The method according to claim 1, characterized in that, The control of the lifting mechanism to extend longitudinally based on the maximum lifting height, and the control of the robot's box-retrieving device to lift and lower to the height of the target storage location, to retrieve the target box from the target storage location, or to transport the target box to the target storage location, includes: After controlling the lifting mechanism to extend longitudinally based on the maximum lifting height, the robot's box-picking device is controlled to lift and lower to the height of the target cargo location, and the target cargo box of the target cargo location is transported to the target location, or the target cargo box is transported to the target cargo location; wherein, the maximum lifting height is the vertical distance.

7. The method according to any one of claims 1-6, characterized in that, The detection device further includes a collision switch disposed on the lifting mechanism of the robot; the method further includes: During the process of the robot performing the cargo handling task, the collision switch detects collision signals. Upon receiving the collision signal, the height of the lifting mechanism is adjusted based on the collision signal.

8. A method for handling cargo containers, characterized in that, include: The electronic device receives height parameters from multiple locations in the warehouse sent by the robot; wherein, the height parameters include the shelf height of each shelf in the warehouse detected by a first sensor, and the height information and / or height limit of multiple locations in the warehouse detected by a second sensor, the height information including the warehouse height; the first sensor is installed on the robot's box-picking device, and the second sensor is installed on the robot's lifting mechanism; when the robot runs to the shelf corresponding to each running aisle in the warehouse, the height parameters of each beam on each shelf are detected by the second sensor to determine the height of each beam; the beam height parameters include at least one of beam height marking, beam height information, and box height information; the shelf height includes the height of each beam in each shelf; The electronic device associates the height parameters of each of the multiple locations with the coordinates of each location in the initial two-dimensional map to create a three-dimensional map of the warehouse. The electronic device generates a cargo handling task based on the 3D map and order information; wherein, the cargo handling task includes a travel route, a target shelf, and a target storage location; The electronic device sends the cargo handling task to the robot, enabling the robot to determine the height information and / or height limit corresponding to each position in the target operating channel in the travel path, as well as the height of the target storage location, based on the target operating channel in the travel path; and during the travel to the target shelf, based on the height limit and / or height information corresponding to each position in the target operating channel, determine the maximum lifting height of the lifting mechanism; when the robot reaches the target shelf, control the lifting mechanism to extend longitudinally based on the maximum lifting height, and control the robot's cargo retrieval device to lift and lower to the height of the target storage location to retrieve the target cargo box from the target storage location, or to transport the target cargo box to the target storage location; wherein, the three-dimensional map includes the height limit and / or height information corresponding to multiple positions in multiple operating channels, as well as the height of each layer of beams in each shelf.

9. The method according to claim 8, characterized in that, The height information also includes the vertical height scan data from the second sensor to the top of the warehouse, detected by the second sensor.

10. The method according to claim 9, characterized in that, Determining the maximum lifting height of the lifting mechanism based on the height limit and / or height information corresponding to each position in the target operating channel includes: Receive the height scan data sent by the robot; Based on the height scan data, the vertical distance from the robot's detection device to the top of the warehouse is determined; Based on the vertical distance, the maximum lifting height of the robot's lifting mechanism is determined; The maximum lifting height of the lifting mechanism is sent to the robot, so that the robot controls the lifting mechanism to extend longitudinally based on the maximum lifting height, and moves the target cargo box of the target location to the target position, or moves the target cargo box to the target location.

11. The method according to claim 10, characterized in that, Determining the maximum lifting height of the lifting mechanism based on the vertical distance includes: Obtain the height difference between the installation height of the detection device and the top height of the robot when the lifting mechanism is in its maximum extension state; If the vertical distance is greater than or equal to the height difference, then the maximum extension distance of the lifting mechanism is determined as the maximum lifting height of the lifting mechanism; If the vertical distance is less than the height difference, then the vertical distance is determined as the maximum lifting height of the lifting mechanism.

12. A cargo handling system, characterized in that, include: A robot is used to perform the steps of the container handling method according to any one of claims 1-7; An electronic device for performing the steps of the container handling method according to any one of claims 8-11.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 11.

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