Handling device, method and apparatus for motion control of a handling device

Abstract

The application provides a carrying device, a motion control method and device of the carrying device, wherein the carrying device comprises a device main body, a control unit and an integrated sensor; the integrated sensor comprises a plurality of communication interfaces, is arranged on a taking mechanism of the device main body and communicates with the control unit through a communication link, wherein the number of the communication links is less than the number of the communication interfaces; the control unit is configured to receive sensing information obtained by the integrated sensor through the plurality of communication interfaces through the communication link, generate control information for the carrying device according to the sensing information and send the control information to the integrated sensor through the communication link to control the motion of the carrying device. Since the number of the communication links is less than the number of the communication interfaces, the communication links connected by the carrying device are reduced, and the integrated sensor integrates the plurality of communication interfaces, so that the integrated sensor can realize a plurality of communication functions, and the flexibility and carrying efficiency of the carrying device are improved.

Description

Technical Field

[0001] This invention relates to the field of warehousing and logistics technology, and particularly to a handling equipment. The invention also relates to a motion control method for the handling equipment, a motion control device for the handling equipment, and a computer-readable storage medium. Background Technology

[0002] With the rapid development of e-commerce, the number of user orders has increased exponentially. In warehouses, manual order picking takes a lot of time and results in extremely low efficiency. Therefore, smart warehousing has become a trend in logistics development.

[0003] In existing technologies, the participation of autonomous mobile robots (AMRs) or automated equipment in smart warehousing can improve the efficiency of warehousing and logistics. However, both AMRs and automated equipment rely heavily on various sensors. Most sensor installations and electrical solutions are directly connected to the control system via cables. This results in complex cabling, large space requirements, low handling efficiency in warehousing, and compromised system stability. Therefore, a more convenient and efficient handling solution is needed. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a handling device. The present invention also relates to a motion control method for a handling device, a motion control apparatus for a handling device, and a computer-readable storage medium, to address the technical deficiencies existing in the prior art.

[0005] According to a first aspect of the present invention, a handling device is provided, the handling device including a device body, a control unit and an integrated sensor;

[0006] The integrated sensor includes multiple communication interfaces, which are located on the object-grabbing mechanism of the main body of the device and communicate with the control unit through communication links. The number of communication links is less than the number of communication interfaces.

[0007] The control unit is configured to receive sensing information obtained by the integrated sensor through multiple communication interfaces via a communication link; generate control information for the handling equipment based on the sensing information; and send the control information to the integrated sensor via the communication link to control the movement of the handling equipment.

[0008] According to a second aspect of the present invention, a motion control method for a handling device is provided, applied to a control unit in the handling device, comprising a main body of the handling device, a control unit, and an integrated sensor. The integrated sensor includes multiple communication interfaces, is disposed on the picking mechanism of the main body of the device, and communicates with the control unit via communication links, wherein the number of communication links is less than the number of communication interfaces; the method includes:

[0009] Through the communication link, it receives sensing information obtained by the integrated sensor through multiple communication interfaces;

[0010] Based on the sensor information, control information for the handling equipment is generated;

[0011] Control information is sent to integrated sensors via a communication link to control the movement of the handling equipment.

[0012] According to a third aspect of the present invention, a motion control device for a handling equipment is provided, applied to a control unit in the handling equipment, comprising a main body of the handling equipment, a control unit, and an integrated sensor. The integrated sensor includes multiple communication interfaces, is disposed on the picking mechanism of the main body of the equipment, and communicates with the control unit via communication links, wherein the number of communication links is less than the number of communication interfaces; the device includes:

[0013] The receiving module is configured to receive sensing information obtained by the integrated sensor through multiple communication interfaces via a communication link;

[0014] The generation module is configured to generate control information for the handling equipment based on the sensor information;

[0015] The transmitting module is configured to send control information to integrated sensors via a communication link to control the movement of the handling equipment.

[0016] According to a fourth aspect of the present invention, a computer-readable storage medium is provided that stores computer-executable instructions, which, when executed by a processor, implement the steps of the motion control method for the conveying device.

[0017] The material handling device provided by this invention includes a device body, a control unit, and an integrated sensor. The integrated sensor includes multiple communication interfaces, is located on the picking mechanism of the device body, and communicates with the control unit through a communication link, wherein the number of communication links is less than the number of communication interfaces. The control unit is configured to receive sensing information obtained by the integrated sensor through the multiple communication interfaces via the communication link; generate control information for the material handling device based on the sensing information; and send the control information to the integrated sensor through the communication link to control the movement of the material handling device.

[0018] In one embodiment of the present invention, since the number of communication links is less than the number of communication interfaces, the number of communication links connected to the handling equipment is reduced, making the handling equipment more flexible and convenient. Furthermore, the integrated sensor integrates multiple communication interfaces, enabling the collection, forwarding, and processing of various communication information, thus allowing the integrated sensor to achieve multiple communication functions and improving the flexibility and handling efficiency of the handling equipment. Attached Figure Description

[0019] Figure 1 This is a system architecture diagram of a material handling system provided in an embodiment of the prior art;

[0020] Figure 2 This is a frame diagram of a handling device provided in an embodiment of the present invention;

[0021] Figure 3 This is a measurement schematic diagram of a ranging sensor in a handling device according to an embodiment of the present invention;

[0022] Figure 4 This is a flowchart of a motion control method for a handling device according to an embodiment of the present invention;

[0023] Figure 5a This is a schematic diagram of the installation position of an integrated sensor in a handling device according to an embodiment of the present invention;

[0024] Figure 5b This is a system architecture diagram of a material handling system provided in an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the motion control device for a handling equipment provided in an embodiment of the present invention. Detailed Implementation

[0026] Numerous specific details are set forth in the following description to provide a full understanding of the invention. However, the invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0027] The terminology used in one or more embodiments of the present invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. The singular forms “a,” “the,” and “the” used in one or more embodiments of the invention and in the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” used in one or more embodiments of the invention refers to and includes any or all possible combinations of one or more associated listed items.

[0028] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of the present invention, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of the present invention, and similarly, second may also be referred to as first. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0029] First, the terminology used in one or more embodiments of the present invention will be explained.

[0030] Analog sensors: Analog sensors emit continuous signals, using voltage, current, resistance, etc., to represent the magnitude of the measured parameter. Common examples include temperature sensors and pressure sensors.

[0031] Photoelectric sensor: A photoelectric sensor is a device that converts light signals into electrical signals. Its working principle is based on the photoelectric effect.

[0032] Servo motor: A servo motor is a position (angle) servo actuator suitable for control systems that require continuous angle changes and the ability to maintain those angles. It is widely used in high-end remote-controlled toys, such as airplane and submarine models, and remote-controlled robots.

[0033] Through-beam sensor: The working principle of a through-beam sensor is that the transmitting end emits red light or infrared light, which is received by the receiving end. When an object passes through and interrupts the light beam, it is an electronic device that outputs a signal.

[0034] Autonomous Mobile Robot (AMR): An AMR is an industrial robot that can lift and transport materials such as pallets within a facility. The robot perceives its surroundings and obstacles by reading QR codes on the facility floor or using light detection and ranging (LiDAR), thus safely navigating around people, equipment, and inventory.

[0035] TOF (Time of Flight) literally translates to Time of Flight. Time-of-flight technology can be understood as measuring the time it takes for an object, particle, or wave to travel a certain distance in a fixed medium. Knowing the speed of light and the time of flight, the distance of the object being measured can be determined.

[0036] Analog quantity: A physical quantity that is continuous in time or in value is called an analog quantity.

[0037] Digital quantity: A physical quantity that is discrete in both time and quantity is called a digital quantity.

[0038] In this invention, a handling device is provided, and the invention also relates to a motion control method for the handling device, a motion control device for the handling device, and a computer-readable storage medium, which will be described in detail in the following embodiments.

[0039] With the rapid development of e-commerce, the number of user orders has increased exponentially. In warehouses, manual order picking consumes a significant amount of time, resulting in extremely low efficiency. Therefore, smart warehousing has become a trend in logistics development. Currently, AMR robots or automated equipment are used in smart warehousing to improve the efficiency of warehousing and logistics. In smart warehousing applications, both AMR robots and automated equipment rely heavily on photoelectric detection technology and communication switching.

[0040] See Figure 1 , Figure 1 This diagram illustrates a system architecture of a material handling system according to an embodiment of the prior art. In existing solutions, data acquisition is typically achieved using general-purpose photoelectric sensors. However, the analog and digital input / output (IO) signals generated by analog sensors need to be converted to digital signals via an analog-to-digital converter before being sent to the robot control system. Furthermore, connecting various sensors such as photoelectric sensors, servos, and through-beam sensors to the robot control system requires configuring a separate cable chain for each sensor. This method is complex, the cable chains occupy significant space, and are costly. Analog-to-digital converters include, but are not limited to, analog-to-RS485 modules, analog-to-RS422 modules, serial communication protocols (CAN, Controller Area Network), and IO conversion modules.

[0041] To address the aforementioned issues, this invention provides a multifunctional fusion sensor that integrates TOF photoelectric sensors, multiple communication interfaces, and external signal acquisition interfaces into one unit. It can directly communicate with analog sensors, saving the need for analog-to-digital converters, thereby enabling functions such as distance detection, signal acquisition, and signal conversion for transport equipment.

[0042] Specifically, this embodiment of the invention provides a handling device, which includes a device body, a control unit, and an integrated sensor. The integrated sensor includes multiple communication interfaces, is located on the picking mechanism of the device body, and communicates with the control unit via communication links, wherein the number of communication links is less than the number of communication interfaces. The control unit is configured to receive sensing information obtained by the integrated sensor through the multiple communication interfaces via the communication links; generate control information for the handling device based on the sensing information; and send the control information to the integrated sensor via the communication links to control the movement of the handling device. Because the number of communication links is less than the number of communication interfaces, the number of communication links connected to the handling device is reduced, making the handling device more flexible and convenient, and the communication links simpler. Furthermore, the integrated sensor integrates multiple communication interfaces, enabling the collection, forwarding, and processing of various communication information, allowing the integrated sensor to perform multiple communication functions, saving the need for an analog-to-digital converter module, improving the flexibility and efficiency of the handling device, reducing handling costs, and ensuring the stability of the handling system.

[0043] Figure 2 A frame diagram of a handling device according to an embodiment of the present invention is shown, wherein the handling device 200 includes a device body 202, a control unit 204 and an integrated sensor 206;

[0044] The integrated sensor 206 includes multiple communication interfaces, is located on the object-grabbing mechanism of the device body 202, and communicates with the control unit 204 through a communication link, wherein the number of communication links is less than the number of communication interfaces;

[0045] The control unit 204 is configured to receive sensing information obtained by the integrated sensor 206 through multiple communication interfaces via a communication link; generate control information for the handling equipment 200 based on the sensing information; and send the control information to the integrated sensor 206 via the communication link to control the movement of the handling equipment 200.

[0046] In this embodiment of the invention, after the control unit sends control information to the integrated sensor via a communication link, the integrated sensor can collect and store the control information. Furthermore, the integrated sensor can also forward the control information to the equipment servo, which then controls the attitude of the toggle switches in the transport equipment.

[0047] It should be noted that integrated sensors can also be understood as multi-functional Time-of-Flight (TOF) sensors. Multiple communication interfaces include at least two of the following: analog interfaces, digital interfaces, RS484 interfaces, and ranging information transmission interfaces. These communication interfaces can connect to other sensors or units, such as through-beam sensors or servo motors. Handling equipment can be understood as transportation equipment, including but not limited to transport carts, autonomous mobile robots, and automated lifting transport equipment detached from shelves. The picking mechanism can be understood as a dynamic adjustment mechanism, such as a telescopic fork. The control unit can be understood as the robot control system, or simply the main controller.

[0048] According to the embodiment of the present invention, the handling equipment includes a main body, a control unit, and an integrated sensor. The integrated sensor includes multiple communication interfaces, which are located on the picking mechanism of the main body and communicate with the control unit via communication links. The number of communication links is less than the number of communication interfaces. The control unit is configured to receive sensing information obtained by the integrated sensor through the multiple communication interfaces via the communication links; generate control information for the handling equipment based on the sensing information; and send the control information to the integrated sensor via the communication links to control the movement of the handling equipment. Because the number of communication links is less than the number of communication interfaces, the number of communication links connected to the handling equipment is reduced, making the handling equipment more flexible and convenient. Furthermore, the integrated sensor integrates multiple communication interfaces, enabling the collection, forwarding, and processing of various communication information, allowing the integrated sensor to perform multiple communication functions and improving the flexibility and handling efficiency of the handling equipment.

[0049] It should be noted that the integrated sensor in the handling equipment provided in this embodiment of the invention has multiple communication interfaces, including external I / O input, external analog input, CAN communication, RS485 communication, and RS232, which can meet the installation requirements of various handling equipment. The interface is flexible and can realize multiple communication functions. Therefore, the handling equipment provided in this embodiment of the invention can be applied to multiple fields such as warehousing and logistics, factory handling, hotel or restaurant handling, etc. Specifically, it can be applied to various scenarios such as obstacle avoidance of handling equipment, communication conversion of telescopic fork servo motors, and distance detection of handling equipment. The specific application scenario of the handling equipment is selected according to the actual situation, and this embodiment of the invention does not impose any limitations on it.

[0050] In an optional embodiment of the present invention, the above-mentioned handling equipment can be applied to a cargo box retrieval and return scenario. After any cargo box retrieval and return task is completed, the retrieval mechanism can be retracted to the position before the cargo box retrieval and return task began, that is, the retrieval mechanism is retracted to its original position, thereby facilitating the next cargo box retrieval and return task. Therefore, the control unit can receive relevant data collected by the analog sensor and use the relevant data to determine whether the retrieval mechanism has been retracted to its original position. That is, the above-mentioned multiple communication interfaces include at least an analog interface, the integrated sensor is connected to the analog sensor through the analog interface, the sensing information includes the mechanism position of the retrieval mechanism, and the control information includes the retrieval mechanism control information.

[0051] An integrated sensor is configured to receive the position of the picking mechanism detected by the analog sensor via an analog interface; and send the position of the picking mechanism to the control unit.

[0052] The control unit is also configured to generate retrieval mechanism control information for the handling equipment based on the mechanism position, wherein the retrieval mechanism control information is used to control the retrieval mechanism to be retracted to its original position.

[0053] Specifically, the analog sensor is a photoelectric sensor that determines whether the retrieval mechanism has retracted to its original position by detecting the position of the retrieval mechanism. The cargo box refers to a mechanical unit used for transporting goods; it can be a box structure or a platform structure. Box structures include standard boxes and inclined boxes. The unit to be transported includes, but is not limited to, a single cargo box, a multi-layer cargo box with partitions, a turnover box, a cardboard box, a original box, a pallet, etc. The mechanism position includes the current coordinates (a, b, c) of the retrieval mechanism, and may also include the distance between the retrieval mechanism and the analog sensor, depending on the actual situation. This embodiment of the invention does not impose any limitations on this.

[0054] In practical applications, the analog sensor responds to the detection command for the picking mechanism, detects the picking mechanism, and obtains the mechanism's position as "distance A between the picking mechanism and the analog sensor". At this time, the analog sensor can send the picking mechanism's position to the integrated sensor through the analog interface. The integrated sensor can then send the position to the control unit. The control unit generates control information for the picking mechanism of the handling equipment based on the position and sends the control information to the integrated sensor. The integrated sensor forwards the control information to the picking mechanism's servo motor, enabling the servo motor to retract the picking mechanism based on the control information, thus returning the picking mechanism to its original position.

[0055] In one possible implementation of the present invention, after the integrated sensor receives the current position of the mechanism, it can directly send the position of the mechanism to the control unit. The control unit then obtains the original position of the picking mechanism, compares the original position with the current position of the mechanism, and generates picking mechanism control information for the picking mechanism.

[0056] For example, assuming the current position of the retrieval mechanism is "distance A between it and the analog sensor", the control unit obtains the original position of the retrieval mechanism as "distance B between it and the analog sensor". The control unit calculates the difference between the original position and the current position and generates the retrieval mechanism control information "retrieval mechanism recovers AB" for the retrieval mechanism.

[0057] In another possible implementation of the present invention, after the integrated sensor receives the current position of the mechanism, it can obtain the original position of the retrieval mechanism, further compare the original position with the current position of the mechanism, and determine whether the retrieval mechanism has been retracted to the original position. If so, it sends the information "retrieval mechanism has been retracted to the original position" to the control unit; if not, it can generate retrieval mechanism adjustment information based on the original position and the current position of the mechanism, and send the retrieval mechanism adjustment information "retrieval mechanism has not been retracted to the original position, and needs to be retracted X" to the control unit. After receiving the information "retrieval mechanism has not been retracted to the original position, and needs to be retracted X", the control unit can directly send the retrieval mechanism control information "retrieval mechanism retracted X" to the integrated sensor, and can also verify the retrieval mechanism adjustment information. After the verification is successful, it sends the retrieval mechanism control information to the integrated sensor.

[0058] According to the solution of this invention, the integrated sensor receives the position of the retrieval mechanism detected by the analog sensor through an analog interface; the mechanism position is then sent to the control unit; the control unit generates control information for the retrieval mechanism of the handling equipment based on the mechanism position, wherein the retrieval mechanism control information is used to control the retrieval mechanism to return to its original position. Since the integrated sensor includes an analog interface, it can forward information from the analog sensor to the control unit, thereby saving the need for an additional analog-to-digital converter module. Furthermore, the analog sensor does not need to be directly connected to the control unit via a cable chain, making the wiring simpler and avoiding problems caused by complex wiring. This improves the flexibility and efficiency of the handling equipment and reduces handling costs.

[0059] In an optional embodiment of the present invention, the above-mentioned handling equipment can be applied to a cargo box retrieval and return scenario. When the handling equipment performs a cargo box retrieval and return task, it can determine whether the current retrieval mechanism can handle the cargo box through a through-beam sensor, thereby controlling the retrieval mechanism to extend or stop in a timely manner. Therefore, the control unit can receive relevant data collected by the through-beam sensor, use the relevant data to determine whether the retrieval mechanism can handle the cargo box, and further control the movement state of the retrieval mechanism. That is, the above-mentioned multiple communication interfaces include at least a digital interface, the integrated sensor is connected to the through-beam sensor through the digital interface, the sensing information includes handling status information, and the control information includes the movement information of the retrieval mechanism.

[0060] An integrated sensor is configured to receive transport status information sent by a through-beam sensor via a digital interface; and to send the transport status information to the control unit.

[0061] The control unit is also configured to generate motion information for the picking mechanism of the handling equipment based on the handling status information, wherein the motion information of the picking mechanism is used to control the motion state of the picking mechanism.

[0062] Specifically, the handling status information indicates whether the cargo container can be handled at any given time.

[0063] In practical applications, the through-beam sensor is in a non-triggered state when the retrieval mechanism is preparing to move the cargo box. During the cargo box's entry into the retrieval mechanism, the through-beam sensor is triggered. When the cargo box is in a suitable position within the retrieval mechanism, the through-beam sensor becomes non-triggered, at which point the cargo box can be moved. The through-beam sensor transmits the "cargo box can be moved" status information ("cargo box can be moved") to the integrated sensor via a digital interface. The integrated sensor then transmits this status information to the control unit. Based on the status information, the control unit generates motion information for the retrieval mechanism and sends this motion information back to the integrated sensor. The integrated sensor forwards this motion information to the retrieval mechanism's servo motor, which then controls the retrieval mechanism to extend or stop, enabling the retrieval mechanism to successfully move the cargo box.

[0064] It should be noted that the through-beam sensor can send real-time handling status information, indicating whether the cargo box can be moved, to the integrated sensor. Alternatively, it can send handling status information to the integrated sensor only when the handling status information indicates that the cargo box can be moved. The specific choice depends on the actual situation, and this embodiment of the invention does not impose any limitations on this.

[0065] In one possible implementation of the present invention, after the integrated sensor receives the current handling status information "the cargo box can be handled", it can directly send the handling status information to the control unit. The control unit parses the handling status information and generates handling mechanism control information for the handling mechanism: "the handling mechanism stops extending forward and begins to retract".

[0066] In another possible implementation of the present invention, after the integrated sensor receives the current handling status information "the cargo box can be handled", it can parse the handling status information and generate handling mechanism adjustment information "the handling mechanism can stop extending forward" for the handling mechanism. The handling mechanism adjustment information "the handling mechanism can stop extending forward" is sent to the control unit. After receiving the information "the handling mechanism can stop extending forward", the control unit can directly send the handling mechanism control information "the handling mechanism stops extending forward and starts retraction" to the integrated sensor. The control unit can also verify the handling mechanism adjustment information and send the handling mechanism control information to the integrated sensor after the verification is successful.

[0067] According to the solution of this invention, the integrated sensor receives the handling status information sent by the through-beam sensor via a digital interface; it then sends the handling status information to the control unit; the control unit generates motion information for the picking mechanism of the handling equipment based on the handling status information, wherein the motion information of the picking mechanism is used to control the motion state of the picking mechanism. Since the integrated sensor includes a digital interface, it can forward information from the through-beam sensor to the control unit. Furthermore, the through-beam sensor does not need to be directly connected to the control unit via a cable chain; it can transmit data to the control unit through a communication link between the integrated sensor and the control unit. This simplifies wiring, avoids problems caused by complex wiring, improves the flexibility and efficiency of the handling equipment, and reduces handling costs.

[0068] In an optional embodiment of the present invention, the aforementioned handling device can be applied to obstacle avoidance or object distance detection scenarios. When the handling device is performing a handling task, obstacles may appear in front of it. The distance sensor can then determine whether there are obstacles in front of the handling device, thereby controlling the handling device to avoid obstacles in a timely manner. Therefore, the control unit can receive relevant data collected by the distance sensor and use the relevant data to determine whether the handling device needs to move, thereby avoiding obstacles. That is, the aforementioned multiple communication interfaces include at least a distance information transmission interface. The integrated sensor is connected to the distance sensor through the distance information transmission interface. The sensing information includes distance data to the target object, and the control information includes device movement control information.

[0069] An integrated sensor is configured to receive distance data measured by a ranging sensor on a target object via a ranging information transmission interface; and to send the distance data to the control unit.

[0070] The control unit is also configured to generate equipment movement control information for the handling equipment based on distance data, wherein the equipment movement control information is used to guide the movement of the handling equipment.

[0071] Specifically, the distance data includes both numerical distance values ​​and the coordinates of the target object relative to the ranging sensor. The ranging sensor can measure the target object in either single-point or area array mode. Single-point mode obtains one distance data point, while area array mode obtains m*n distance data points. A ranging sensor refers to a sensor with ranging functionality, including but not limited to laser ranging sensors, infrared ranging sensors, or ultrasonic ranging sensors, selected based on actual conditions. This embodiment of the invention does not impose any limitations on this selection.

[0072] In practical applications, during the movement of the handling equipment, the ranging sensor can detect objects around the equipment, obtain distance data for each object, and send this distance data to the integrated sensor via the ranging information transmission interface. The integrated sensor can then send the distance data "distance A between the integrated sensor and the distance sensor" to the control unit. Based on this distance data, the control unit generates equipment movement control information for the handling equipment. After generating the equipment movement control information, the control unit can directly send it to the motion actuators, enabling the actuators to guide the movement of the handling equipment and successfully avoid obstacles. These motion actuators include drive motors such as walking motors, rotating motors, telescopic motors, and lifting motors. The control unit can also send the equipment movement control information to the integrated sensor, which then forwards it to the equipment servo motor, which controls the attitude of the toggle switches within the handling equipment.

[0073] It should be noted that the distance data sent by the integrated sensor to the control unit can be in various forms, and the specific selection should be made according to the actual situation. This embodiment of the invention does not impose any limitations on this.

[0074] In one possible implementation of the present invention, the integrated sensor can directly forward the distance data sent by the ranging sensor to the control unit. The control unit analyzes whether there is a value in the distance data that is less than or equal to a preset distance threshold. If so, it indicates that the object corresponding to the distance data is an obstacle. At the same time, the control unit can also determine whether the obstacle is on the left or right and generate accurate device movement control information.

[0075] In another possible implementation of the present invention, after receiving the distance data sent by the ranging sensor, the integrated sensor can analyze whether there is a value in the distance data that is less than or equal to a preset distance threshold. If so, it indicates that the object corresponding to the distance data is an obstacle. At the same time, the integrated sensor can also determine whether the obstacle is to the left or to the right. If the object is an obstacle, it sends the distance data "There is an obstacle, and the position information of the obstacle is X" to the control unit.

[0076] According to the scheme of this invention, the integrated sensor receives distance data measured by the ranging sensor on the target object through the ranging information transmission interface; the distance data is then sent to the control unit; the control unit generates equipment movement control information for the handling equipment based on the distance data, wherein the equipment movement control information is used to guide the movement of the handling equipment. Since the integrated sensor includes a ranging information transmission interface, it can forward the measurement information of the ranging sensor to the control unit. Furthermore, the ranging sensor does not need to be directly connected to the control unit via a cable chain; it can communicate with the control unit through a communication link between the integrated sensor and the control unit. This simplifies wiring, avoids problems caused by complex wiring, improves the flexibility and efficiency of the handling equipment, and reduces handling costs.

[0077] In an optional embodiment of the present invention, where the integrated sensor directly forwards the information collected by the ranging sensor to the control unit for data analysis, the control unit is further configured to compare the distance data with a preset distance threshold; if there is data in the distance data that is less than or equal to the preset distance threshold, determine that the target object is the first obstacle of the transport equipment; acquire the current position information of the transport equipment and the object position information of the target object; and generate equipment movement control information for the transport equipment based on the current position information and the object position information.

[0078] It should be noted that the current location information includes the coordinates of the transport equipment, and the object location information includes the coordinates of the target object. When generating equipment movement control information for the transport equipment based on the current and object location information, the two can be compared. If the horizontal coordinates of the transport equipment and the target object are the same, a preset adjustment value is made to the horizontal coordinates of the transport equipment, causing it to move according to the adjusted horizontal coordinates. After the movement, the horizontal coordinates of the transport equipment will differ from those of the target object. Furthermore, after the transport equipment moves, it can receive distance information again from the ranging sensor to determine whether the target object is still the first obstacle to the transport equipment.

[0079] For example, assuming the ranging sensor is a single-point mode TOF sensor, the distance data obtained by the ranging sensor from the target object is "10", and the control unit obtains a preset distance threshold of "15". Comparing the distance data "10" with the preset distance threshold "15", since the distance data is less than the preset distance threshold, it can be determined that the target object is the first obstacle of the transport equipment. The current position information of the transport equipment is obtained as (2,2), and the object position information of the target object is (2,12). Based on the current position information and the object position information, the preset adjustment threshold "2" is added to the horizontal coordinate of the transport equipment, and the equipment movement control information for the transport equipment is further generated as "move 2 to the left or move 2 to the right".

[0080] According to the scheme of this invention, the control unit compares the distance data with a preset distance threshold; if there is data in the distance data that is less than or equal to the preset distance threshold, the target object is determined to be the first obstacle of the transport equipment; the current position information of the transport equipment and the object position information of the target object are acquired; based on the current position information and the object position information, equipment movement control information for the transport equipment is generated. Since the integrated sensor includes a ranging information transmission interface, it can forward the information from the ranging sensor to the control unit, and the ranging sensor does not need to be directly connected to the control unit via a cable chain, making the wiring simpler, avoiding problems caused by complex wiring, improving the flexibility and efficiency of the transport equipment, and reducing transport costs.

[0081] In an optional embodiment of the present invention, when the integrated sensor performs data analysis on the data collected by the ranging sensor, the integrated sensor is further configured to compare the distance data with a preset distance threshold; if there is a distance in the distance data that is less than or equal to the preset distance threshold, the target object is determined to be a second obstacle of the transport equipment; and the object position information of the target object is sent to the control unit.

[0082] The control unit is also configured to acquire the current position information of the conveying equipment; and to generate equipment movement control information for the conveying equipment based on the current position information and the object position information.

[0083] It should be noted that because target objects are typically irregular and vary in depth, the distance data measured by a single-point TOF sensor is slightly less accurate. Therefore, a TOF sensor in area array mode can be used to measure the target object. See [link / reference] Figure 3 , Figure 3 This diagram illustrates a measurement schematic of a ranging sensor in a handling device according to an embodiment of the present invention. Figure 3As shown, assuming the ranging sensor is a Time-of-Flight (TOF) sensor with an area array pattern capable of sensing object contours, the TOF detection module in the TOF sensor emits a TOF sensor beam. This beam measures the target object. When an obstacle is in front of the transport equipment, some or all of the m*n data points fed back by the area array will change. At this point, m*n distance data points within the measurement range are obtained, which are "a11, a12, ..., a1m, a21, a31, ..., an1". These m*n distance data points can describe the contour of the measured object, allowing for more accurate obstacle avoidance compared to single-point ranging. After the integrated sensor obtains the m*n distance data points measured by the ranging sensor, it compares each of these m*n distance data points with a preset distance threshold. If any distance data point is less than or equal to the preset distance threshold, the target object is identified as a second obstacle to the transport equipment, and the object's position information is sent to the control unit. The control unit then generates equipment movement control information for the transport equipment based on the current position information of the transport equipment and the object's position information.

[0084] Furthermore, the target object can be identified using m*n distance data. In one possible implementation of this specification, after the integrated sensor obtains m*n distance data sent by the ranging sensor, it can determine the object outline of the target object based on the m*n distance data. The object outline is compared with a preset object outline. If the object outline is the same as the preset object outline, the identification is successful; if the object outline is different from the preset object outline, the identification fails. In another possible implementation of this specification, the integrated sensor can send the m*n distance data to the control unit, which then determines the object outline of the target object based on the m*n distance data and compares it with a preset object outline to identify the target object.

[0085] According to the scheme of this invention, the integrated sensor compares distance data with a preset distance threshold; if there is data in the distance data that is less than or equal to the preset distance threshold, the target object is determined to be a second obstacle of the transport equipment; the object position information of the target object is sent to the control unit; the control unit obtains the current position information of the transport equipment; and based on the current position information and the object position information, generates equipment movement control information for the transport equipment. Since the integrated sensor includes a ranging information transmission interface, it can forward information from the ranging sensor to the control unit, and the ranging sensor does not need to be directly connected to the control unit via a cable chain, making the wiring simpler, avoiding problems caused by complex wiring, improving the flexibility and efficiency of the transport equipment, and reducing transport costs.

[0086] In an optional embodiment of the present invention, after the control unit compares the distance data with a preset distance threshold and determines that the target object is the first obstacle of the transport equipment, it can determine the next action of the transport equipment based on the distance data. The next action may be that the transport equipment moves to explore a position without obstacles and then moves again or performs a telescopic fork action, or it may be that a warning is broadcast through obstacle prompt information. That is, the control unit is also configured to generate obstacle prompt information when there is data in the distance data that is less than or equal to the preset distance threshold. The obstacle prompt information is used to indicate that the target object is an obstacle of the transport equipment.

[0087] It should be noted that obstacle warning information includes, but is not limited to, obstacle warning text, obstacle warning lights, and obstacle warning voice, etc. The specific selection should be made according to the actual situation, and the embodiments of the present invention do not impose any limitations on this.

[0088] In practical applications, the control unit can send obstacle warning information to the scheduling unit, which then schedules the display unit or the audio playback unit to display obstacle warning information, flash or keep the obstacle warning signal light on, or play obstacle warning voice prompts on the audio playback unit.

[0089] According to the solution of this invention, when the distance data contains data less than or equal to a preset distance threshold, the control unit generates obstacle warning information. This obstacle warning information indicates that the target object is an obstacle to the transport equipment. When the target object is an obstacle to the transport equipment, the timely warning information allows the transport equipment to quickly avoid the obstacle, improving its flexibility and preventing irreversible damage to the transport equipment or the target object.

[0090] In an optional embodiment of the present invention, the handling device further includes a device servo motor, and correspondingly, the multiple communication interfaces further include servo motor connection interfaces; the control unit generates control information for the handling device, and after sending the control information to the integrated sensor, the integrated sensor can forward the control information to the device servo motor, and control the movement of the handling device through the device servo motor. That is, the aforementioned integrated sensor is also configured to send the control information to the device servo motor through the servo motor connection interface, so that the device servo motor can perform motion control on the handling device based on the control information.

[0091] For example, assuming the control information is "rotate the picking mechanism by 90 degrees", the integrated sensor sends the control information to the device servo via the servo connection interface. In response to the control information, the device servo rotates the picking mechanism by 90 degrees.

[0092] By applying the solution of this invention, integrated sensors send control information to the equipment servo motor via a servo motor connection interface, enabling the equipment servo motor to control the movement of the handling equipment based on the control information. This allows for flexible control of the handling equipment and improves its handling efficiency.

[0093] In an optional embodiment of the present invention, since the integrated sensor includes multiple communication interfaces, when the integrated sensor sends sensing information to the control unit, it can identify which communication interface the sensing information comes from. Correspondingly, when the control unit sends control information to the integrated sensor, it can also identify which communication interface the control information is sent to. That is, the integrated sensor is further configured to convert the sensing information into a format to obtain sensing information in a target format; and send the sensing information in the target format to the control unit, wherein the target format is used to identify the communication interface corresponding to the sensing information.

[0094] It should be noted that the integrated sensor can receive sensing information through multiple communication interfaces. In order to distinguish the sensing information transmitted by different communication interfaces, frame headers and trailers can be added to the sensing information transmitted by each communication interface, converting the sensing information into a target format that includes frame headers and trailers. Here, the frame header can be understood as a start symbol, and the frame trailer can be understood as a stop symbol. The specific selection of the frame header and trailer depends on the actual situation, and the embodiments of the present invention do not impose any limitations on this.

[0095] For example, assuming that the sensing information transmitted by communication interface A is aaaaaa and the sensing information transmitted by communication interface B is bbbbbb, then the integrated sensor adds a frame header S and a frame tail E to each sensing information respectively, and the resulting sensing information is SaaaaaaESbbbbbbE.

[0096] Furthermore, in order to identify the correspondence between sensing information and communication interface, an interface tag can be added to the sensing information, and the sensing information can be converted into a target format including the interface tag. The specific interface tag is selected according to the actual situation, and the embodiments of the present invention do not impose any limitations on it.

[0097] For example, assuming the integrated sensor includes communication interface A and communication interface B, then interface label 1100 can be used to indicate that the sensing information comes from communication interface A, and interface label 0011 can be used to indicate that the sensing information comes from communication interface B.

[0098] The solution of this invention integrates sensors to convert the format of sensing information to obtain sensing information in a target format; the sensing information in the target format is then sent to the control unit, wherein the target format is used to identify the communication interface corresponding to the sensing information. By converting the sensing information to the target format, the corresponding communication interface can be determined, facilitating the processing of the sensing information and improving information transmission efficiency.

[0099] Figure 4 The flowchart illustrates a motion control method for a handling device according to an embodiment of the present invention. This motion control method is applied to a control unit within the handling device, which includes a main body, a control unit, and an integrated sensor. The integrated sensor includes multiple communication interfaces, is located on the picking mechanism of the main body, and communicates with the control unit via communication links. The number of communication links is less than the number of communication interfaces. The method specifically includes the following steps:

[0100] Step 402: Receive sensing information obtained by the integrated sensor through multiple communication interfaces via the communication link.

[0101] Step 404: Generate control information for the handling equipment based on the sensor information.

[0102] Step 406: Send control information to the integrated sensor via the communication link to control the movement of the handling equipment.

[0103] In one optional embodiment of the present invention, the plurality of communication interfaces include at least analog interfaces, the integrated sensor is connected to the analog sensor through the analog interface, the sensing information includes the position of the object-grabbing mechanism, and the control information includes the control information of the object-grabbing mechanism.

[0104] The above-mentioned method of receiving sensing information obtained by the integrated sensor through multiple communication interfaces via a communication link may include the following steps:

[0105] Receive the position of the object-grabbing mechanism sent by the integrated sensor, wherein the position is obtained by the analog sensor detecting the object-grabbing mechanism;

[0106] The process of generating control information for the handling equipment based on the sensor information may include the following steps:

[0107] Based on the location of the mechanism, control information for the retrieval mechanism of the handling equipment is generated. This control information is used to control the retrieval mechanism to be retracted to its original position.

[0108] In one optional embodiment of the present invention, the plurality of communication interfaces include at least digital interfaces, the integrated sensor is connected to the through-beam sensor through the digital interfaces, the sensing information includes handling status information, and the control information includes motion information of the picking mechanism.

[0109] The above-mentioned method of receiving sensing information obtained by the integrated sensor through multiple communication interfaces via a communication link may include the following steps:

[0110] Receive transport status information sent by the integrated sensor, wherein the transport status information is obtained by the through-beam sensor;

[0111] The process of generating control information for the handling equipment based on the sensor information may include the following steps:

[0112] Based on the handling status information, motion information of the picking mechanism of the handling equipment is generated, wherein the motion information of the picking mechanism is used to control the motion status of the picking mechanism.

[0113] In one optional embodiment of the present invention, the plurality of communication interfaces include at least a ranging information transmission interface, the integrated sensor is connected to the ranging sensor through the ranging information transmission interface, the sensing information includes distance data to the target object, and the control information includes device movement control information.

[0114] The above-mentioned method of receiving sensing information obtained by the integrated sensor through multiple communication interfaces via a communication link may include the following steps:

[0115] Receive distance data sent by the integrated sensor, wherein the distance data is obtained by the ranging sensor measuring the target object;

[0116] The process of generating control information for the handling equipment based on the sensor information may include the following steps:

[0117] Based on distance data, equipment movement control information is generated for the handling equipment, which is used to guide the movement of the handling equipment.

[0118] In one optional embodiment of the present invention, the handling device further includes a device servo motor, and correspondingly, the multiple communication interfaces further include servo motor connection interfaces;

[0119] The aforementioned method of sending control information to integrated sensors via a communication link to control the movement of the handling equipment may include the following steps:

[0120] Control information is sent to the integrated sensor via a communication link, so that the integrated sensor sends the control information to the equipment servo motor via the servo motor connection interface. Accordingly, the equipment servo motor performs motion control on the handling equipment based on the control information.

[0121] In an optional embodiment of the present invention, receiving sensing information obtained by the integrated sensor through multiple communication interfaces via a communication link may include the following steps:

[0122] Receive sensing information in a target format sent by the integrated sensor. The target format sensing information is obtained by the integrated sensor through format conversion of the sensing information. The target format is used to identify the communication interface corresponding to the sensing information.

[0123] In an optional embodiment of the present invention, generating equipment movement control information for the handling equipment based on distance data may include the following steps:

[0124] Compare the distance data with a preset distance threshold;

[0125] If there are distance data that are less than or equal to a preset distance threshold, the target object is identified as the first obstacle to the handling equipment.

[0126] Obtain the current position information of the handling equipment and the object position information of the target object;

[0127] Based on the current location information and the object's location information, generate equipment movement control information for the handling equipment.

[0128] In an optional embodiment of the present invention, after comparing the distance data with a preset distance threshold, the following steps may be further included:

[0129] If there are distance data points less than or equal to a preset distance threshold, obstacle warning information is generated. This obstacle warning information is used to indicate that the target object is an obstacle to the transport equipment.

[0130] In an optional embodiment of the present invention, generating equipment movement control information for the handling equipment based on distance data may include the following steps:

[0131] Obtain the current location information of the handling equipment;

[0132] Based on the current location information and the object location information, equipment movement control information for the handling equipment is generated. The object location information is generated by integrating sensors to compare distance data with a preset distance threshold. If there is data in the distance data that is less than or equal to the preset distance threshold, it is sent.

[0133] It should be noted that the specific implementation methods of steps 402, 404, and 406 are the same as those described above. Figure 2 The embodiments of the conveying equipment shown are the same, so the embodiments of the present invention will not be described again.

[0134] The solution implemented in this invention reduces the number of communication links compared to the number of communication interfaces, making the handling equipment more flexible and convenient. Furthermore, the integrated sensor incorporates multiple communication interfaces, enabling the collection, forwarding, and processing of various communication information. This allows the integrated sensor to perform multiple communication functions, improving the flexibility and efficiency of the handling equipment. Through the communication links, sensing information obtained by the integrated sensor through multiple communication interfaces is received; based on the sensing information, control information for the handling equipment is generated; and through the communication links, the control information is sent to the integrated sensor to control the movement of the handling equipment, further improving the efficiency and accuracy of the handling equipment's motion control.

[0135] See Figure 5a , Figure 5a This diagram illustrates the installation location of an integrated sensor in a handling device according to an embodiment of the present invention. Figure 5a As shown, in the obstacle avoidance scenario of the object retrieval mechanism, the integrated sensor is installed on the front side of the object retrieval mechanism and is connected to the servo motor, the TOF detection module and the through-beam sensor through a communication link. The TOF detection module can emit a TOF sensor beam to detect objects.

[0136] It should be noted that, apart from installing the integrated sensor on the front side of the object-grabbing mechanism as described above, the integrated sensor can be installed in other locations, depending on the actual situation. This embodiment of the invention does not impose any limitations on this.

[0137] See Figure 5b , Figure 5b A system architecture diagram of a handling system according to an embodiment of the present invention is shown. Figure 5b As shown, the integrated sensor contains a processor, and each module corresponds to a different processor interface within the integrated sensor. After the robot control system sends information to the integrated sensor, the integrated sensor can package all the information within itself and then send it to the robot control system via the communication bus. The integrated sensor can also distribute the information sent by the robot control system to different interfaces, thereby enabling robot distance detection, signal acquisition, signal conversion, and long-distance transmission. In this embodiment of the invention, the interfaces include analog interfaces, TOF photoelectric interfaces, CAN communication interfaces, RS485 communication interfaces, RS232 communication interfaces, and external signal acquisition interfaces. Among them, the TOF photoelectric interface is used for distance detection, the external signal acquisition interface is used for signal acquisition, and the CAN communication, RS485 communication, and RS232 communication interfaces are used for signal conversion and long-distance transmission.

[0138] In one optional embodiment of the present invention, the analog sensor can be connected to the integrated sensor via an analog interface, the servo motor can be connected to the integrated sensor via an RS485 interface, and the through-beam sensor can be connected to the integrated sensor via a digital interface. It should be noted that the specific connection interface between each module and the integrated sensor is selected according to the actual situation, and the embodiments of the present invention do not impose any limitations on this. Figure 5b As shown, double arrows represent both transmitting and receiving signals, while single arrows represent the transmitting direction. The servo module, TOF photoelectric sensor, and internal storage module need to integrate the sensor's internal processor to distribute information.

[0139] The solution implemented in this invention can optimize the handling system by addressing issues such as high design costs, complex wiring, and detection errors. Furthermore, by integrating sensors, information from other actuators and sensors can be relayed to the control system. Since integrated sensors can be obtained from semi-finished modules and controllers, the operating cost can be significantly reduced.

[0140] Corresponding to the above method embodiments, the present invention also provides an embodiment of a motion control device for a handling device. Figure 6 A schematic diagram of the structure of a motion control device for a handling equipment according to an embodiment of the present invention is shown. Figure 6 As shown, this device is applied to the control unit of a handling equipment. The handling equipment includes a main body, a control unit, and an integrated sensor. The integrated sensor includes multiple communication interfaces, is located on the picking mechanism of the main body, and communicates with the control unit via communication links. The number of communication links is less than the number of communication interfaces. The device includes:

[0141] The receiving module 602 is configured to receive sensing information obtained by the integrated sensor through multiple communication interfaces via a communication link;

[0142] The generation module 604 is configured to generate control information for the handling equipment based on the sensing information;

[0143] The transmitting module 606 is configured to send control information to the integrated sensor via a communication link to control the movement of the handling equipment.

[0144] Optionally, the multiple communication interfaces include at least an analog interface. The integrated sensor is connected to the analog sensor through the analog interface. The sensing information includes the position of the picking mechanism, and the control information includes the picking mechanism control information. The receiving module 602 is further configured to receive the position of the picking mechanism sent by the integrated sensor, wherein the position is obtained by the analog sensor detecting the picking mechanism. The generating module 604 is further configured to generate picking mechanism control information for the handling equipment based on the position, wherein the picking mechanism control information is used to control the picking mechanism to return to its original position.

[0145] Optionally, the multiple communication interfaces include at least a digital interface. The integrated sensor is connected to the through-beam sensor through the digital interface. The sensing information includes handling status information, and the control information includes motion information of the picking mechanism. The receiving module 602 is further configured to receive the handling status information sent by the integrated sensor, wherein the handling status information is obtained by the through-beam sensor. The generating module 604 is further configured to generate motion information of the picking mechanism for the handling equipment based on the handling status information, wherein the motion information of the picking mechanism is used to control the motion state of the picking mechanism.

[0146] Optionally, the multiple communication interfaces include at least a ranging information transmission interface. The integrated sensor is connected to the ranging sensor through the ranging information transmission interface. The sensing information includes distance data to the target object, and the control information includes device movement control information. The receiving module 602 is further configured to receive distance data sent by the integrated sensor, wherein the distance data is obtained by the ranging sensor measuring the target object. The generating module 604 is further configured to generate device movement control information for the handling equipment based on the distance data, wherein the device movement control information is used to guide the movement of the handling equipment.

[0147] Optionally, the handling equipment also includes a servo motor, and correspondingly, the multiple communication interfaces also include servo motor connection interfaces; the transmitting module 606 is further configured to transmit control information to the integrated sensor via a communication link, so that the integrated sensor transmits the control information to the servo motor via the servo motor connection interface, and correspondingly, the servo motor performs motion control on the handling equipment based on the control information.

[0148] Optionally, the receiving module 602 is further configured to receive sensing information in a target format sent by the integrated sensor, wherein the sensing information in the target format is obtained by the integrated sensor through format conversion of the sensing information, and the target format is used to identify the communication interface corresponding to the sensing information.

[0149] Optionally, the generation module 604 is further configured to compare the distance data with a preset distance threshold; if there is data in the distance data that is less than or equal to the preset distance threshold, determine the target object as the first obstacle of the conveying equipment; obtain the current position information of the conveying equipment and the object position information of the target object; and generate equipment movement control information for the conveying equipment based on the current position information and the object position information.

[0150] Optionally, the generation module 604 is further configured to generate obstacle warning information when there is data in the distance data that is less than or equal to a preset distance threshold, wherein the obstacle warning information is used to indicate that the target object is an obstacle to the handling equipment.

[0151] Optionally, the generation module 604 is further configured to acquire the current position information of the handling equipment; and generate equipment movement control information for the handling equipment based on the current position information and the object position information, wherein the object position information is sent when the distance data is compared with a preset distance threshold by an integrated sensor, and the distance data contains data that is less than or equal to the preset distance threshold.

[0152] The solution implemented in this invention reduces the number of communication links compared to the number of communication interfaces, making the handling equipment more flexible and convenient. Furthermore, the integrated sensor incorporates multiple communication interfaces, enabling the collection, forwarding, and processing of various communication information. This allows the integrated sensor to perform multiple communication functions, improving the flexibility and efficiency of the handling equipment. Through the communication links, sensing information obtained by the integrated sensor through multiple communication interfaces is received; based on the sensing information, control information for the handling equipment is generated; and through the communication links, the control information is sent to the integrated sensor to control the movement of the handling equipment, further improving the efficiency and accuracy of the handling equipment's motion control.

[0153] The above is a schematic scheme of a motion control device for a conveying device according to this embodiment. It should be noted that the technical solution of the motion control device for the conveying device and the technical solution of the motion control method for the conveying device described above belong to the same concept. For details not described in detail in the technical solution of the motion control device for the conveying device, please refer to the description of the technical solution of the motion control method for the conveying device described above.

[0154] An embodiment of the present invention also provides a computer-readable storage medium storing computer instructions that, when executed by a processor, are used for:

[0155] Through the communication link, it receives sensing information obtained by the integrated sensor through multiple communication interfaces;

[0156] Based on the sensor information, control information for the handling equipment is generated;

[0157] Control information is sent to integrated sensors via a communication link to control the movement of the handling equipment.

[0158] The above is an illustrative scheme of a computer-readable storage medium according to this embodiment. It should be noted that the technical solution of this storage medium and the technical solution of the motion control method of the conveying equipment described above belong to the same concept. For details not described in detail in the technical solution of the storage medium, please refer to the description of the technical solution of the motion control method of the conveying equipment described above.

[0159] The foregoing has described specific embodiments of the invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0160] The computer instructions include computer program code, which may be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0161] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the invention are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0162] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0163] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of the present invention. These embodiments have been selected and specifically described to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A handling device, characterized in that, The handling equipment includes a main body, a control unit, and integrated sensors; The integrated sensor includes multiple communication interfaces, which are located on the object-grabbing mechanism of the main body of the device and communicate with the control unit through communication links. The number of communication links is less than the number of communication interfaces. The multiple communication interfaces include at least analog interfaces, digital interfaces, and a ranging information transmission interface. The integrated sensor is connected to an analog sensor through the analog interface and to a through-beam sensor through the digital interface. The analog sensor is used to determine whether the object-grabbing mechanism has retracted to its original position by detecting the position of the object-grabbing mechanism. The through-beam sensor is used to determine whether the object-grabbing mechanism can move the cargo box, thereby controlling the extension or stopping of the object-grabbing mechanism. The integrated sensor is connected to a ranging sensor through the ranging information transmission interface. The ranging sensor includes a sensor in an area array mode that senses the outline of an object. The area array mode sensor determines the outline of the target object based on distance data and compares the object outline with a preset object outline to identify the target object. The control unit is configured to receive sensing information obtained by the integrated sensor through the multiple communication interfaces via the communication link; generate control information for the handling equipment based on the sensing information; and send the control information to the integrated sensor via the communication link to control the movement of the handling equipment.

2. The handling equipment according to claim 1, characterized in that, The plurality of communication interfaces include at least an analog interface, the integrated sensor is connected to the analog sensor through the analog interface, the sensing information includes the position of the object-grabbing mechanism, and the control information includes the control information of the object-grabbing mechanism; The integrated sensor is configured to receive the position of the object-grabbing mechanism detected by the analog sensor through the analog interface; and send the position of the mechanism to the control unit. The control unit is further configured to generate retrieval mechanism control information for the handling device based on the mechanism position, wherein the retrieval mechanism control information is used to control the retrieval mechanism to be retracted to its original position.

3. The handling equipment according to claim 1, characterized in that, The plurality of communication interfaces include at least a digital interface, the integrated sensor is connected to the through-beam sensor through the digital interface, the sensing information includes handling status information, and the control information includes motion information of the picking mechanism; The integrated sensor is configured to receive the transport status information sent by the through-beam sensor via the digital interface; and to send the transport status information to the control unit. The control unit is further configured to generate motion information for the picking mechanism of the handling equipment based on the handling status information, wherein the motion information of the picking mechanism is used to control the motion state of the picking mechanism.

4. The handling equipment according to claim 1, characterized in that, The plurality of communication interfaces include at least a ranging information transmission interface. The integrated sensor is connected to the ranging sensor through the ranging information transmission interface. The sensing information includes distance data of the target object, and the control information includes device movement control information. The integrated sensor is configured to receive distance data measured by the ranging sensor on the target object via the ranging information transmission interface; and to send the distance data to the control unit. The control unit is further configured to generate equipment movement control information for the transport equipment based on the distance data, wherein the equipment movement control information is used to guide the movement of the transport equipment.

5. The handling equipment according to any one of claims 1-4, characterized in that, The handling equipment also includes a servo motor, and correspondingly, the plurality of communication interfaces also include a servo motor connection interface; The integrated sensor is also configured to send the control information to the equipment servo via the servo connection interface, so that the equipment servo can perform motion control on the conveying equipment based on the control information.

6. The handling equipment according to any one of claims 2-4, characterized in that, The integrated sensor is further configured to convert the sensing information into a format to obtain sensing information in a target format; and to send the sensing information in the target format to the control unit, wherein the target format is used to identify the communication interface corresponding to the sensing information.

7. The handling equipment according to claim 4, characterized in that, The control unit is further configured to compare the distance data with a preset distance threshold; and if there is data in the distance data that is less than or equal to the preset distance threshold, determine that the target object is a first obstacle of the conveying device. Obtain the current position information of the conveying device and the object position information of the target object; Based on the current location information and the object location information, device movement control information is generated for the handling equipment.

8. The handling equipment according to claim 7, characterized in that, The control unit is further configured to generate obstacle warning information when there is data in the distance data that is less than or equal to the preset distance threshold, wherein the obstacle warning information is used to indicate that the target object is an obstacle of the transport equipment.

9. The handling equipment according to claim 4, characterized in that, The integrated sensor is also configured to compare the distance data with a preset distance threshold; if there is data in the distance data that is less than or equal to the preset distance threshold, the target object is determined to be a second obstacle of the conveying device. The object position information of the target object is sent to the control unit; The control unit is also configured to acquire the current position information of the conveying device; Based on the current location information and the object location information, device movement control information is generated for the handling equipment.

10. A motion control method for a conveying device, characterized in that, A control unit is applied in the conveying equipment, which includes a main body, a control unit, and an integrated sensor. The integrated sensor includes multiple communication interfaces, located on the picking mechanism of the main body, and communicates with the control unit via communication links. The number of communication links is less than the number of communication interfaces. The multiple communication interfaces include at least analog interfaces, digital interfaces, and a ranging information transmission interface. The integrated sensor is connected to an analog sensor via the analog interface and to a through-beam sensor via the digital interface. The analog sensor is used to determine whether the picking mechanism has retracted to its original position by detecting the position of the picking mechanism. The through-beam sensor is used to determine whether the picking mechanism can move the cargo box, thereby controlling the picking mechanism to extend, retract, or stop. The integrated sensor is connected to a ranging sensor via the ranging information transmission interface. The ranging sensor includes a sensor in an area array mode that senses the outline of an object. The area array mode sensor determines the outline of the target object based on distance data and compares the object outline with a preset object outline to identify the target object. The method includes: The integrated sensor receives sensing information obtained through the multiple communication interfaces via the communication link. Based on the sensor information, control information for the handling equipment is generated; The control information is sent to the integrated sensor via the communication link to control the movement of the handling equipment.

11. A motion control device for a conveying equipment, characterized in that, A control unit is applied in the conveying equipment, which includes a main body, a control unit, and an integrated sensor. The integrated sensor includes multiple communication interfaces, located on the picking mechanism of the main body, and communicates with the control unit via communication links. The number of communication links is less than the number of communication interfaces. The multiple communication interfaces include at least analog interfaces, digital interfaces, and a ranging information transmission interface. The integrated sensor is connected to an analog sensor via the analog interface and to a through-beam sensor via the digital interface. The analog sensor is used to determine whether the picking mechanism has retracted to its original position by detecting the position of the picking mechanism. The through-beam sensor is used to determine whether the picking mechanism can move the cargo box, thereby controlling the extension or stopping of the picking mechanism. The integrated sensor is connected to a ranging sensor via the ranging information transmission interface. The ranging sensor includes a sensor in an area array mode that senses the outline of an object. The area array mode sensor determines the outline of the target object based on distance data and compares the object outline with a preset object outline to identify the target object. The device includes: The receiving module is configured to receive sensing information obtained by the integrated sensor through the multiple communication interfaces via the communication link; The generation module is configured to generate control information for the handling equipment based on the sensing information; The transmitting module is configured to send the control information to the integrated sensor via the communication link to control the movement of the conveying equipment.

12. A computer-readable storage medium storing computer instructions that, when executed by a processor, implement the steps of the motion control method for the conveying device of claim 10.

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