Cargo receiving method and carrying method

Abstract

The embodiment of the present application provides a goods receiving method and a carrying method. When a first carrying robot (any one of goods carrying equipment) needs to receive goods from a goods conveying device, a control terminal controls the first carrying robot to travel to a target position at a first travel speed. Meanwhile, when the sensor senses that the first carrying robot travels to the target position, the sensor sends a trigger message to the control terminal. The control terminal sends a control instruction to a docking conveying line based on the trigger message, so as to instruct the docking conveying line to convey the goods to the first carrying robot in the process of traveling at the first travel speed at a second travel speed. The goods receiving method provided by the present application does not need to experience the process of deceleration, stopping, waiting for receiving goods and acceleration leaving when the carrying robot receives the goods from the docking conveying line. The carrying robot can travel, receive goods and deliver goods at a preset speed all the time, so as to improve the goods receiving efficiency of the carrying robot.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of robot control, and in particular to a method for receiving goods and a method for carrying. BACKGROUND

[0002] At present, in the process of receiving goods from a goods conveying device and transporting to a designated unloading location, a carrying robot needs to slow down before driving to a designated receiving location, stop at the designated receiving location after the carrying robot reduces the driving speed to zero, wait for the goods conveying device to deliver the goods to the receiving platform of the carrying robot after the goods conveying device at the end of the interface conveying line, and then accelerate from the stationary state to the predetermined speed to leave the receiving location to the unloading address for unloading.

[0003] The carrying robot receives goods by the above-mentioned receiving method, which includes multiple processes of slowing down, stopping, waiting for receiving, and accelerating to leave, so that the receiving time of the carrying robot is relatively long, which affects the receiving efficiency of the carrying robot. SUMMARY

[0004] Embodiments of the present application provide a receiving method and a carrying method, in which a first carrying robot completes the operation of receiving goods from an interface conveying line while driving at a first driving speed, without going through the processes of slowing down, stopping, waiting for receiving, and accelerating to leave, so as to improve the receiving efficiency of the first carrying robot.

[0005] In a first aspect, embodiments of the present application provide a receiving method applied to a control terminal, wherein the control terminal is in communication connection with a goods conveying device and a goods carrying device respectively, the goods conveying device includes a plurality of conveying lines, a sensor is arranged on an interface conveying line at the end of the plurality of conveying lines or around the interface conveying line, and the method includes:

[0006] When a first carrying robot is needed to carry goods, a first driving speed and a driving strategy of the first carrying robot are determined, and the first carrying robot is triggered to drive according to the driving speed and the driving strategy, and the first carrying robot is any one of the goods carrying devices;

[0007] Trigger information sent by the sensor is received, and the sensor sends the trigger information to the control terminal when the sensor senses that the first carrying robot drives to a target position;

[0008] In response to the triggering information, a control command is sent to the docking conveyor line to cause the docking conveyor line to perform a target action according to the control command. The target action is for the docking conveyor line to move at a second travel speed so that the goods on the docking conveyor line can be transferred to the first handling robot while the first handling robot is moving at the first travel speed.

[0009] Secondly, embodiments of this application provide a handling method, wherein the handling robot is communicatively connected to a control terminal, the control terminal is connected to a cargo conveying device, the cargo conveying device includes multiple conveyor lines, and sensors are arranged on the docking conveyor line at the very end of the multiple conveyor lines or around the docking conveyor line; the method includes:

[0010] When the docking conveyor line transports goods at a first speed according to the control command transmitted by the control terminal, it travels at the first speed.

[0011] When the transport robot travels to the detection area of ​​the sensor, it receives the goods being transported on the docking conveyor line.

[0012] This application provides a receiving and handling method, wherein a control terminal is communicatively connected to multiple handling robots in a cargo conveying device and the cargo handling device itself. The cargo conveying device includes multiple conveyor lines, and sensors are installed on the docking conveyor line at the end of the multiple conveyor lines or around the docking conveyor line. When a first handling robot (any one of the handling robots in the cargo handling device) needs to receive goods from the cargo conveying device, the control terminal controls the first handling robot to travel to the target position at a first travel speed. Simultaneously, when the sensor detects that the first handling robot has traveled to the target position, it sends a trigger message to the control terminal. Based on the trigger message, the control terminal sends a control command to the docking conveyor line, instructing the docking conveyor line to transfer the goods to the first handling robot traveling at the first travel speed at a second travel speed. The receiving method provided by this application allows the handling robot to continuously travel, receive, and deliver goods at a preset speed without experiencing deceleration, stopping, waiting for goods, and accelerating away when receiving goods from the docking conveyor line, thereby improving the receiving efficiency of the handling robot. Attached Figure Description

[0013] Figure 1 This is an application scenario diagram illustrating an exemplary embodiment of the receiving method of this application;

[0014] Figure 2 This is a schematic diagram of the internal structure of a terminal device shown in an exemplary embodiment of this application;

[0015] Figure 3is a software structure block diagram of a control terminal according to an example embodiment of the present application;

[0016] Figure 4 is a front view of a multi-section conveying line according to an example embodiment of the present application;

[0017] Figure 5 is a top view of a multi-section conveying line according to an example embodiment of the present application;

[0018] Figure 6 is a shape diagram of a multi-section conveying line according to an example embodiment of the present application;

[0019] Figure 7 is an application scenario diagram of another goods receiving method according to an example embodiment of the present application;

[0020] Figure 8 is a structure diagram of a carrying robot according to an example embodiment of the present application;

[0021] Figure 9 is a structure diagram of a chassis of a carrying robot according to an example embodiment of the present application;

[0022] Figure 10 is a flow diagram of a goods receiving method according to an example embodiment of the present application;

[0023] Figure 11 is a flow diagram of a goods receiving method according to an example embodiment of the present application;

[0024] Figure 12 is a scenario diagram of a carrying robot receiving and delivering goods according to an example embodiment of the present application;

[0025] Figure 13 is a diagram of a carrying robot driving below a goods conveying device according to an example embodiment of the present application;

[0026] Figure 14 is a diagram of a carrying robot driving from the side of a goods conveying device according to an example embodiment of the present application;

[0027] Figure 15 is a structure diagram of a control terminal of a robot according to an example embodiment of the present application;

[0028] Figure 16 is a structure diagram of a carrying robot according to an example embodiment of the present application. DETAILED DESCRIPTION

[0029] The detailed description set forth below in connection with the appended drawings describes exemplary embodiments and does not represent all exemplary embodiments that can be implemented in accordance with the application. The description below sets forth various embodiments of the application along with examples of methods and apparatuses thereof. It should be understood that the adherence of the various embodiments of the application and the examples that follow, while aimed at providing a complete disclosure and protection of the application, are not intended to limit the application to a single embodiment, but rather the application can encompass a wide variety of embodiments.

[0030] The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the description of the application and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It also will be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0031] It will be understood that, although the terms first, second, third, etc. can be used herein to describe various information, the information should not be limited by these terms. These terms are used only to distinguish one piece of information from another. For example, a first information could be termed a second information, and, similarly, a second information could be termed a first information without departing from the scope of the present application. As used herein, the term "if' can be construed to mean "when" or "in response to determining" or "in response to a determination" depending on the context.

[0032] The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Unless otherwise defined, technical terms or scientific terms used in the description of the application have the meaning commonly understood by one of ordinary skill in the art to which the application pertains. The use of the terms "first", "second", and the like in the description of the application and the claims does not imply any order or sequence unless explicitly stated otherwise. Similarly, the use of the terms "a" or "an" does not limit the quantity to one unless explicitly stated otherwise. The use of the terms "including", "containing", and the like does not exclude the presence of other elements or materials.

[0033] The use of the terms "including", "containing", and the like does not exclude the presence of other elements or materials. The use of the terms "connected", "coupled", and the like does not exclude the presence of intermediate elements or intervening components unless otherwise specifically stated.

[0034] Before describing the technical solutions of the embodiments of this application, the application scenarios of the embodiments of this application will first be described with reference to the accompanying drawings.

[0035] See Figure 1 , Figure 1 This is an application scenario diagram of a receiving method provided in an embodiment of this application. Figure 1 In this diagram, 100 represents the control terminal, 200 represents the cargo conveying equipment, and 300 represents the cargo handling equipment.

[0036] Among them, such as Figure 2 As shown, the control terminal 100 can be, for example, an independent server, server cluster, host computer, desktop computer, tablet, laptop, etc. The control terminal 100 may include an external memory interface 120, internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, antenna 1, antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, a headphone jack 170D, a sensor module 180, buttons 190, a motor 191, an indicator 192, a camera 193, a display screen 194, and a subscriber identification module (SIM) card interface 195, etc. The sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, a barometric pressure sensor 180C, a magnetic sensor 180D, an accelerometer sensor 180E, a distance sensor 180F, a proximity sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, etc.

[0037] It is understood that the structure illustrated in the embodiments of this application does not constitute a specific limitation on the control terminal 100. In other embodiments of this application, the control terminal 100 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0038] The processor 110 can include one or more processing units, for example: the processor 110 can include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units can be independent devices, or can be integrated in one or more processors.

[0039] The memory can also be provided in the processor, for storing instructions and data. In some embodiments, the memory in the processor is a cache memory. The memory can save instructions or data that the processor has just used or recycled, which can be directly called from the memory. This avoids repeated access and reduces the waiting time of the processor, thereby improving the efficiency of the processor.

[0040] The internal memory 121 of the control terminal 100 can be used to store computer executable program codes, and the executable program codes include instructions. The processor 110 executes various functional applications and data processing of the control terminal 100 by running the instructions stored in the internal memory 121. The internal memory 121 can include a program storage area and a data storage area. Among them, the program storage area can store an operating system, at least one application program required by a function, etc. The data storage area can store data created during the use of the control terminal 100 (such as the number of handling robots, the parameters of the handling robots, the movement route of the handling robots, etc.). In addition, the internal memory 121 can include a high-speed random access memory, and can also include a non-volatile memory, for example, at least one magnetic disk storage device, a flash memory device, a universal flash memory (UFS), etc.

[0041] The control terminal 100 realizes the display function through the GPU, the display screen 194, and the application processor, etc. The GPU is a microprocessor connected to the display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations. The processor 110 can include one or more GPUs, which execute program instructions to control the cargo conveying device to convey the cargo and the cargo handling device to travel to the target position to pick up the cargo.

[0042] The display screen 194 is configured to display images, videos, or the like. The display screen 194 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flex light-emitting diode (FLED), a Miniled, a MicroLed, a Micro-oLed, a quantum dot light emitting diodes (QLED), or the like. In some embodiments, the control terminal 100 can include one or N display screens 194, where N is a positive integer greater than 1.

[0043] The touch sensor 180K, also referred to as a “touch panel”. The touch sensor 180K can be disposed on the display screen 194, and the touch sensor 180K and the display screen 194 form a touch screen, also referred to as a “touch panel”. The touch sensor 180K is configured to detect a touch operation acting on or near the touch sensor 180K. The touch sensor 180K can transmit the detected touch operation to the application processor to determine the type of touch event. The visual output related to the touch operation can be provided through the display screen 194. In other embodiments, the touch sensor 180K can also be disposed on the surface of the control terminal 100, which is different from the position of the display screen 194.

[0044] The software system of the control terminal 100 can adopt a layered architecture, an event-driven architecture, a micro-kernel architecture, a micro-service architecture, or a cloud architecture. The embodiments of the present application take the Android system with a layered architecture as an example to illustrate the software structure of the control terminal 100.

[0045] Figure 3 is a software structure block diagram of the control terminal 100 according to an embodiment of the present application. The layered architecture divides the software into several layers, and each layer has a clear role and division of labor. The layers communicate with each other through software interfaces. In some embodiments, the Android system is divided into four layers, from top to bottom, the application layer, the application framework layer, the Android runtime and system library, and the kernel layer.

[0046] The application layer can include a series of application packages. Continuing with the example of the Android system, the application layer includes a series of application packages, such as the package of the home application, the package of the dialer application, the package of the messaging application, the package of the browser application, the package of the settings application, the package of the camera application, the package of the gallery application, the package of the calculator application, the package of the calendar application, the package of the clock application, the package of the voice recorder application, the package of the music application, the package of the video player application, the package of the file manager application, and the package of the application market application. Figure 3As shown, the application package may include an input method app. In addition, the application package may also include apps for camera, gallery, calendar, calling, WLAN, Bluetooth, music, video, maps, navigation, and SMS.

[0047] The application framework layer provides application programming interfaces (APIs) and a programming framework for applications in the application layer. The application framework layer includes some predefined functions.

[0048] Continue as Figure 3 As shown in the embodiments of this application, the application framework layer may include an input method management service (IMMS), an input method service (IMS), and a temporary file management system.

[0049] In this embodiment, temporary file management is used to create and manage temporary files for the input method. IMM, IMMS, and IMS form a data transmission channel (hereinafter referred to as the data channel), through which the input method APP can transmit data with other modules, including but not limited to data transmission with temporary file management.

[0050] In some embodiments not shown, the application framework layer may also include a window manager, content provider, view system, phone manager, resource manager, notification manager, etc. The runtime includes core libraries and the virtual machine. The Android runtime is responsible for the scheduling and management of the Android system.

[0051] The core library consists of two parts: one part is the functionalities that need to be called by the Java language, and the other part is the Android core library.

[0052] The application layer and application framework layer run in a virtual machine. The virtual machine executes the Java files of the application layer and application framework layer as binary files. The virtual machine is used to perform functions such as object lifecycle management, stack management, thread management, security and exception management, and garbage collection.

[0053] System libraries can include multiple functional modules. For example: surface manager, media libraries, 3D graphics processing libraries (e.g., OpenGLES), 2D graphics engines (e.g., SGL), etc.

[0054] The kernel layer is the layer between hardware and software. The kernel layer includes at least display drivers, camera drivers, audio drivers, and sensor drivers.

[0055] like Figure 4 As shown, the cargo conveying equipment 200 includes a conveyor line, which can be a single, continuous section or multiple sections connected together. If the cargo conveying equipment 200 includes multiple conveyor lines, these sections can be conveyor lines with the same structure but different lengths, or conveyor lines with the same structure and length. This application does not limit this. The following description uses the example of the cargo conveying equipment 200 including multiple conveyor lines to illustrate one section of the multiple conveyor lines.

[0056] Continue as Figure 4 As shown, the conveyor line includes a cargo-carrying section 201 and a support section 202. The cargo-carrying section 201 is mounted on the support section 202, which supports the cargo-carrying section 201. The cargo-carrying section 201 is used to transfer goods to the next location (e.g., a handling robot). Figure 5 As shown, Figure 5 A top view of the conveyor line shows that the cargo-carrying unit 201 can be cubic or cuboid in shape, including a conveyor section, a transmission assembly, and a processor. The conveyor section is, for example, a conveyor belt; the transmission assembly is, for example, a motor and transmission rollers; and the processor is, for example, a microcontroller or MCU chip. The conveyor belt is fitted onto the transmission rollers. When the motor is energized, it drives the transmission rollers to rotate, thereby circulating the conveyor belt to transport the goods at the head of the conveyor belt to the tail of the conveyor belt, and further transfer them to the next conveyor line or a handling robot. The transmission rollers can be stacked on the side of the conveyor belt, with at least one pair of conveyor rollers on each conveyor line segment. Connecting rods are provided between symmetrically arranged conveyor rollers, and additional connecting rods can be provided between different connecting rods to form the skeleton of the cargo-carrying unit 201. The dimensions of the cargo-carrying unit 201 are, for example, a length of 2m, a width of 0.8m, and a thickness of 0.3m.

[0057] The processor is used to receive instructions from the control terminal 100 to control the start or stop of the click. The processor can also adjust the speed of the motor rotation according to the instructions from the control terminal 100. The processor can also perform other operations according to the control terminal 100, which are not limited in this application.

[0058] In another embodiment, the cargo-carrying unit 201 may have a drive roller at the head and a drive roller at the end of the docking conveyor line, with a whole conveyor belt wrapped around the two drive rollers. The two drive rollers are respectively connected to two motors, and a processor is also provided. The cargo-carrying unit 201 may also have other forms, which are not limited in this application.

[0059] Continue asFigure 4 As shown, the support part 202 includes an upper base, a lower base, and a first support rod. The upper base, lower base, and first support rod can be a single piece or a connecting piece. The material of the support part 202 is, for example, iron, alloy, or steel; this application does not limit this, as long as it can support the cargo-bearing part 201. The upper base of the support part 202 is connected to the frame of the cargo-bearing part 201. This connection can be welding, riveting, snap-fitting, etc., and this application is not limited. If the conveyor line is multi-segmented, each segment of the conveyor line includes at least one support part 202. The diameter of the first support rod of the support part 202 is, for example, 0.1m, and the height of the support part 202 is, for example, 1.2m.

[0060] In addition, such as Figure 6 As shown, Figure 6 The conveyor line can be straight, curved, L-shaped, U-shaped, etc. The conveyor line can be set with a suitable shape according to different environments, and this application does not limit it.

[0061] The cargo conveying equipment 200 includes multiple conveyor lines, which may have identical structures. For ease of description, this application may refer to the last conveyor line among the multiple conveyor lines as the docking conveyor line, from which each handling robot receives goods. Sensors are installed on or around the docking conveyor line. If the sensors are installed on the docking conveyor line, they may be located on the cargo-bearing part 201 or on the support part 202; this application does not limit this to any particular type.

[0062] like Figure 7 As shown, the next level above the cargo conveying equipment 200 can be the cargo handling equipment 400. After sorting, packaging, and packing the goods, the cargo handling equipment 400 will transfer the goods to the cargo conveying equipment 200, which will then transfer them to the handling robot. The handling robot will then transport the goods to the designated location such as the target unloading point or the manual delivery point.

[0063] like Figure 8 As shown, Figure 8 This is a schematic diagram of a handling robot, which includes a receiving tray 301, a support structure 302, and a chassis 303. The dimensions of the receiving tray 301 can be determined according to requirements, the size of the goods to be received, etc. For example, the length of the receiving tray 301 is 0.5m, the width is 0.3m, and the thickness is 0.1m.

[0064] The support structure 302 is, for example, a second support rod, the number of which is at least one, and can also be multiple, which is not limited in the application. When the support structure 302 includes one second support rod, the diameter of the support rod is, for example, 0.1 m. If the support structure 302 includes multiple support rods, the diameter of the multiple second support rods is, for example, 0.02 m. The height of the second support rod is, for example, 1.2 m. The upper end surface of the support rod can be connected to the receiving tray 301 by welding, clamping, bolting, riveting, etc. The lower end surface of the support rod can be connected to the chassis 303 by welding, clamping, bolting, riveting, etc. The connection method of each part is not limited in the application, as long as it can meet the normal operation of each device.

[0065] The second support rod can include a telescopic structure, such as a scissor structure, a pulley lifting structure, a pneumatic cylinder lifting structure, etc. The telescopic structure can adjust the height of the second support rod as needed, so that the first handling robot can adapt to more receiving scenarios. At the same time, the first handling robot can also change its height through the telescopic structure when the height of the goods changes, so as to unload the goods to the designated position at different heights.

[0066] As shown in Figure 9 The chassis 303 includes a chassis body 3031 and a moving roller 3032. The structure of the chassis body 3031 is, for example, a cuboid, a cube, a prism, etc. The number of moving rollers 3032 is at least one, and can also be multiple. The moving roller 3032 is arranged at the bottom of the chassis body 3031, and can be connected to the chassis body 3031 by welding, clamping, bolting, riveting, etc.

[0067] The chassis body 3031 includes a shell with a hollow structure inside. The shell is provided with processors, drive assemblies, receivers, transmitters, speed sensors, angle sensors, distance sensors, etc. The chassis body can communicate with other devices (such as a goods conveying device) through the receiver and the transmitter; the drive assembly is electrically connected to the moving roller and can drive the moving roller to move under the control of the instructions sent by the processor; the speed sensor, the angle sensor, and the distance sensor are respectively electrically connected to the processor.

[0068] The receiver is configured to receive instructions for controlling the terminal 100, the goods conveying device 200, other devices, etc.; the transmitter is configured to transmit data processed by the processor (e.g., the speed, turning angle, and travel distance of the carrying robot) to the terminal 100 or other devices; the processor is configured to process various data of the carrying robot and, after processing various instructions received by the receiver, control other components to perform corresponding operations according to the instructions, for example, control the driving assembly to drive the moving rollers to roll. The speed sensor is configured to collect the speed of the carrying robot, the angle sensor is configured to collect the deflection angle of the carrying robot, and the distance sensor is configured to collect the travel distance of the carrying robot, etc.

[0069] In one embodiment, as shown in Figure 10 , Figure 10 A goods receiving method is provided for the embodiments of the present application. The goods receiving method is described by taking the terminal 100 shown in Figure 1 as an example. The goods receiving method comprises the following steps.

[0070] In step S1001, when the first carrying robot needs to carry goods, the first travel speed and travel strategy of the first carrying robot are determined, and the first carrying robot is triggered to travel according to the first travel speed and travel strategy. The first carrying robot is any one of the carrying robots in the goods carrying device 300.

[0071] The goods carrying device 300 comprises a plurality of carrying robots. For ease of description, the goods receiving method provided by the present application is described by taking any one of the plurality of carrying robots (referred to as the first carrying robot) as an example.

[0072] When the first carrying robot needs to carry goods, it can be that the goods processing device 400 has processed goods, or the goods conveying device 200 starts to transport goods, etc. The present application does not limit this.

[0073] The first travel speed of the first carrying robot can be a fixed travel speed, that is, the travel speed of the first carrying robot from the current position to the starting end of the conveying line, from the starting end of the conveying line to the goods receiving position, from the goods receiving position to the target unloading point, and from the target unloading point back to the starting end of the conveying line is a fixed first travel speed.

[0074] Alternatively, the first travel speed of the first carrying robot from the current position to the starting end of the conveying line, from the starting end of the conveying line to the goods receiving position, from the goods receiving position to the manual drop-off point, and from the manual drop-off point back to the starting end of the conveying line is a fixed first travel speed.

[0075] Alternatively, the first carrying robot travels from the current position to the start end of the conveying line, travels from the start end of the conveying line to the receiving position, and travels from the receiving position back to the start end of the conveying line at a fixed first travel speed.

[0076] The first travel speed can further include a plurality of speeds, which can be speeds at which the first carrying robot travels different routes. For example, the first travel speed includes a first speed and a second speed, the first speed being a speed at which the first carrying robot travels from the current position to the receiving position, and the second speed being a speed at which the first carrying robot travels from the receiving position to the target unloading point, the manual delivery point, or the start end of the conveying line. The plurality of speeds can be different speeds, or two of them can be the same, which is not limited in the application.

[0077] The travel strategy is used to define the travel route of the first carrying robot, for example, the first carrying robot travels under the conveying line, or travels from the side of the conveying line, or travels at an angle with the conveying line, etc., which is not limited in the application. The travel strategy of the first carrying robot can be determined by data such as the height and width of the conveying line, and the height and width of the first carrying robot. In an embodiment, the first travel speed can be determined by the following methods:

[0078] The first method is that the first travel speed is a fixed speed and is the same as the second travel speed, which can be determined by the steps as shown in Figure 11 .

[0079] Step S1101, obtaining the second travel speed;

[0080] The control terminal 100 can send an obtaining message to the processor of the goods conveying device 200 through the network, and the goods conveying device 200 sends the second travel speed to the control terminal 100 through the network according to the obtaining message. The control terminal 100 can also obtain the second travel speed of the goods conveying device 200 from the corresponding memory. The application is not limited in this regard.

[0081] Step S1102, taking the second travel speed as the first travel speed.

[0082] The control terminal 100 can take the second travel speed as the first travel speed of the first carrying robot after obtaining the second travel speed. Further, the control terminal 100 can send the first travel speed to the processor of the first carrying robot, so that the processor controls the first robot to travel at the first travel speed.

[0083] The second method is that the first travel speed and the second travel speed are different speeds, which can be determined according to the following steps:

[0084] The first travel speed is determined based on a length of the goods to be transported on the conveying line, a distance between the first carrying robot and a starting end of the conveying line, a distance between the goods receiving position and a preset position, and goods receiving information of the first carrying robot.

[0085] The length of the goods to be transported on the conveying line is the length of the entire conveying line. The distance between the first carrying robot and the starting end of the conveying line is the distance between the position where the first carrying robot is located when the goods need to be carried by the first carrying robot and the starting end of the conveying line. The goods receiving position is a position where the first carrying robot can receive the goods from the docking conveying line, for example, a position where the first carrying robot travels to the upper end surface of the goods receiving tray 301 and the upper end surface of the goods carrying part 201 of the docking conveying line are at the same horizontal plane. The preset position is determined according to the goods receiving information of the first carrying robot. Different goods receiving information corresponds to different preset positions. For example, when the goods receiving information is the first goods receiving information, the preset position is the target unloading point. When the goods receiving information is the second goods receiving information, the preset position is the manual delivery point. The details will be described below and will not be repeated here.

[0086] It should be noted that when the goods need to be carried by the carrying robots in the goods carrying device 300, all the carrying robots in the goods carrying device 300 or part of the carrying robots in the goods carrying device 300 can be delivered by manual operation. In order to avoid collision and other situations of the carrying robots during the carrying of the goods, the carrying robots can be delivered according to a preset distance. Therefore, the positions of the carrying robots at the beginning of receiving the goods are different. The control terminal 100 or the carrying robots can obtain the position coordinates of the carrying robots by using the positioning device (for example, a position sensor) arranged in the carrying robots, so as to further obtain the distance between the carrying robots and the starting end of the conveying line. Since the delivery positions of the carrying robots are different, the distances between the carrying robots and the starting end of the conveying line are different.

[0087] The first travel speed of the first carrying robot can be determined by the control terminal 100 according to the above data and sent to the first carrying robot. Alternatively, the first carrying robot can determine the first travel speed according to the above data, which is not limited in the present application.

[0088] The control terminal 100 or the first carrying robot can determine one first travel speed according to all the above data, or can determine different speeds according to part of the above data, which is not limited in the present application.

[0089] In one embodiment, the control terminal 100 or the first carrying robot can determine the first speed and the second speed by using the above data. Specifically:

[0090] In step S1201, the first speed is determined based on the length of the goods to be transported on the conveying line and the distance between the first carrying robot and the starting end of the conveying line, so that the first carrying robot travels from the current position to the goods receiving position according to the first speed.

[0091] The first speed is the speed of the first carrying robot traveling from the initial drop-off position (i.e., the current position) to the goods receiving position.

[0092] In another embodiment, the first speed can include a first sub-speed and a second sub-speed, wherein the first sub-speed is the speed of the first carrying robot traveling from the current position to the starting end of the conveying line, and the second sub-speed is the speed of the first carrying robot traveling from the starting end of the conveying line to the goods receiving position. The first sub-speed and the second sub-speed can be determined in the following manner:

[0093] If the distance between the first carrying robot and the starting end of the conveying line is greater than or equal to a first threshold value, the speed of the first carrying robot traveling from the current position to the starting end of the conveying line is determined as the first sub-speed.

[0094] If the length of the goods to be transported on the goods conveying device is less than or equal to a second threshold value, the second traveling speed is determined as the second sub-speed of the first carrying robot traveling from the starting end of the conveying line to the goods receiving position, and the first sub-speed is greater than the second sub-speed.

[0095] The first threshold value and the second threshold value can be determined according to historical carrying speed, travel route, travel time, and other data of the first carrying robot. For example, the first threshold value is 5 meters, and the second threshold value is 2 meters. The first sub-speed and the second sub-speed can also be determined according to the historical carrying speed of the first carrying robot, which is not specifically limited in the present application.

[0096] The application can determine the first sub-speed of the first carrying robot when the distance between the first carrying robot and the starting end of the conveying line is greater than or equal to the first threshold, and determine the second sub-speed of the first carrying robot when the length of the goods on the goods conveying device that needs to be conveyed is less than or equal to the second threshold. It should be noted that the first sub-speed is greater than the second sub-speed, so that the first carrying robot can quickly reach the starting end of the conveying line, improve the efficiency of the first carrying robot, and avoid the waste of resources caused by the long-time stop of multiple carrying robots in one area. On the other hand, when the carrying robot travels to the starting end of the conveying line, it travels at a speed less than the first sub-speed, which can better control the orderly queuing of the carrying robots, and also better cooperate with the conveying line to convey goods at the second speed, and more smoothly successfully dock the conveying line.

[0097] In another embodiment, the control terminal 100 or the first carrying robot can also determine the speed of the first carrying robot from the current position to the starting end of the conveying line to be another speed different from the first sub-speed when the distance between the first carrying robot and the starting end of the conveying line is less than the first threshold, which is not limited in the application.

[0098] In another embodiment, the control terminal 100 or the first carrying robot can also determine the second sub-speed of the first carrying robot from the starting end of the conveying line to the receiving position to be another speed different from the second speed when the length of the goods on the goods conveying device that needs to be conveyed is greater than the second threshold, which is not limited in the application.

[0099] Step S1202, determining the second speed based on the distance between the receiving position and the preset position and the receiving information of the first carrying robot, so that the first carrying robot travels from the receiving position to the preset position according to the second speed, and the first speed is greater than or equal to the second speed.

[0100] The first travel speed also includes a second speed, which is less than or equal to the first speed. The control terminal 100 or the first handling robot can determine the second speed based on the distance between the receiving position and a preset position, as well as the receiving information of the first handling robot. The preset position corresponds to the receiving information of the first receiving robot. Specifically, when the receiving information of the first handling robot is the first information, the preset position is the target receiving point; when the receiving information of the first handling robot is the second information, the preset position is the beginning of the conveyor line; and when the receiving information of the first handling robot is the third information, the preset position is the manual delivery point. The first information indicates that the first handling robot has received goods from the docking conveyor line and that the received goods meet the receiving requirements. The second information indicates that the first handling robot failed to receive the goods. The third information indicates that the first handling robot successfully received the goods, but the goods do not meet the receiving requirements.

[0101] Therefore, the first handling robot can travel from the receiving position to different preset positions by traveling at different speeds.

[0102] In one embodiment, such as Figure 12 As shown, if the preset location is the target unloading point, the travel speed of the first handling robot from the receiving location to the target unloading point can be determined by the following method:

[0103] If the receiving information of the first handling robot is the first information, then the preset location is determined as the target unloading point. The first information is the information indicating that the first handling robot has successfully received the goods and that the goods meet the receiving requirements.

[0104] The first piece of information refers to the information that the first handling robot has successfully received the goods and that the goods meet the receiving requirements. Successful receipt indicates that the first handling robot has successfully received the goods from the docking conveyor line. Receiving requirements may include, for example, that the goods have a corresponding barcode, that the goods' appearance meets packaging requirements, and that the outer packaging of the goods has corresponding information. This application does not limit these requirements. After the first handling robot receives the goods, it can scan the goods using a scanner installed on it, and determine whether the first handling robot has successfully received the goods and whether the goods meet the receiving requirements based on the scanned image. Alternatively, an image acquisition device installed in the environment where the first handling robot operates can acquire an image of the first handling robot after it reaches the receiving position, and transmit the image to the first handling robot or the control terminal 100, etc., to determine whether the first handling robot has successfully received the goods and whether the goods meet the receiving requirements. This application does not limit these requirements.

[0105] When the first carrying robot or the control terminal 100 determines that the pickup information of the first carrying robot is the first information, it is further determined that the preset position is the target unloading point. The target unloading point is the position where the first carrying robot unloads and temporarily stores the goods. The goods at the target unloading point all belong to the goods that meet the pickup requirements. Further, these goods can be directly shipped or transported to the next designated location according to the process.

[0106] If the distance between the pickup location and the target unloading point is greater than or equal to the third threshold value, it is determined that the driving speed of the first carrying robot from the pickup location to the target unloading point is the third sub-speed.

[0107] Wherein, when the preset position is determined as the target unloading point, the driving speed (i.e. the third speed) of the first carrying robot from the pickup location to the target unloading point can be determined according to the comparison result of the distance between the pickup location and the target unloading point and the third threshold value. The third threshold value can also be determined according to the historical driving record of the first carrying robot. For example, the third threshold value is 10 meters. The third sub-speed can also be determined according to the driving speed of the first carrying robot in the process of carrying goods in the history, which is not limited here. The present application can determine that the driving speed of the first carrying robot from the pickup location to the target unloading point is the third sub-speed when the distance between the pickup location and the target unloading point is greater than or equal to the third threshold value. The third sub-speed can be greater than the second sub-speed, can be greater than the first sub-speed, or can be equal to the first sub-speed, which is not limited by the present application. In this way, the first carrying robot can quickly go to the target unloading point to unload, so as to improve the delivery efficiency of the first carrying robot.

[0108] In another embodiment, the driving speed of the first carrying robot from the pickup location to the target unloading point can also be determined as another speed different from the third sub-speed when the distance between the pickup location and the target unloading point is less than the third threshold value, which is not limited by the present application. In order to flexibly determine the driving speed of the first carrying robot according to different routes of the first carrying robot, so that the first carrying robot can pick up and deliver goods more quickly and smoothly.

[0109] In another embodiment, as shown in Figure 12 If the preset position is the starting end of the conveying line, the driving speed of the first carrying robot from the pickup location to the starting end of the conveying line can be determined by the following method:

[0110] If the pickup information of the first carrying robot is the second information, it is determined that the preset position is the starting end of the conveying line, and the second information represents that the first carrying robot fails to pick up;

[0111] If the distance between the pickup location and the start end of the conveying line is greater than or equal to a fourth threshold value, the driving speed of the first carrying robot from the pickup location to the start end of the conveying line is determined as a fourth sub-speed.

[0112] In the method, the control terminal 100 or the first carrying robot can also obtain the pickup information by the above method. If it is determined that the pickup information is information indicating that the first carrying robot fails to pick up the goods, the preset position to which the first carrying robot needs to go is determined as the start end of the conveying line, so that the first carrying robot can re-queue to pick up the goods.

[0113] Then, the control terminal 100 or the first carrying robot can determine the driving speed (i.e., the fourth sub-speed) of the first carrying robot from the pickup location to the start end of the conveying line according to the ratio of the distance between the pickup location and the start end of the conveying line to the fourth threshold value. And in the case that the distance between the pickup location and the start end of the conveying line is greater than or equal to the fourth threshold value, the driving speed of the first carrying robot from the pickup location to the start end of the conveying line is determined as the fourth sub-speed. The fourth threshold value can also be determined according to the historical driving records of the first carrying robot, and the fourth threshold value is, for example, 20 meters. The fourth sub-speed can also be determined according to the speed at which the first carrying robot drives in the process of carrying the goods in the past, which is not limited here. The fourth sub-speed can be greater than the third sub-speed, can be greater than the first sub-speed, can be equal to the first sub-speed, can be equal to the third sub-speed, and the present application does not limit this. In this way, the first carrying robot can quickly return to the start point to re-queue to pick up the goods, so as to improve the pickup efficiency of the first carrying robot.

[0114] In another embodiment, the driving speed of the first carrying robot from the pickup location to the start end of the conveying line can also be determined as another speed different from the fourth sub-speed when the distance between the pickup location and the start end of the conveying line is less than the fourth threshold value, which is not limited by the present application. In order to flexibly determine the driving speed of the first carrying robot according to different routes of the first carrying robot, so that the first carrying robot can pick up and deliver goods more quickly and smoothly.

[0115] In another embodiment, as shown in Figure 12 If the preset position is the manual delivery point, the driving speed of the first carrying robot from the pickup location to the manual delivery point can be determined by the following method:

[0116] If the pickup information of the first carrying robot is the third information, the preset position is determined as the manual delivery point, and the third information is information indicating that the first carrying robot successfully picks up the goods but the goods do not meet the pickup requirements;

[0117] If the distance between the pickup location and the manual delivery point is greater than or equal to the fifth threshold value, it is determined that the driving speed of the first carrying robot from the pickup location to the manual delivery point is the fifth sub-speed.

[0118] In the above method, the control terminal 100 or the first carrying robot can also obtain the pickup information by the above method. If it is determined that the pickup information is information that the first carrying robot successfully picks up the goods but the goods do not meet the pickup requirements, it is determined that the preset position that the first carrying robot needs to go to is the manual delivery point. In this way, the first carrying robot can distinguish and place the goods with problems and the goods that meet the pickup requirements, which facilitates the overall inspection and repair of the goods with problems and improves the processing efficiency of the goods. The manual delivery point is another position that temporarily stores the goods with problems, which is different from the target unloading point.

[0119] Then, the control terminal 100 or the first carrying robot can determine the driving speed (i.e., the fifth sub-speed) of the first carrying robot from the pickup location to the manual delivery point according to the ratio of the distance between the pickup location and the manual delivery point to the fifth threshold value. And in the case that the distance between the pickup location and the manual delivery point is greater than or equal to the fifth threshold value, the driving speed of the first carrying robot from the pickup location to the manual delivery point is the fifth sub-speed. The fifth threshold value can also be determined according to the historical driving record of the first carrying robot, and the fifth threshold value is, for example, 25 meters. The fifth sub-speed can also be determined according to the speed at which the first carrying robot drives in the process of carrying the goods, which is not limited here. The fifth sub-speed can be greater than the third sub-speed, can be greater than the first sub-speed, can be equal to the first sub-speed, can be equal to the third sub-speed, can be greater than the fourth sub-speed, etc. The present application does not limit this. In this way, the first carrying robot can quickly go to the manual delivery point to unload, so as to improve the delivery efficiency of the first carrying robot.

[0120] In another embodiment, the driving speed of the first carrying robot from the pickup location to the manual delivery point can also be determined as another speed different from the fifth sub-speed when the distance between the pickup location and the manual delivery point is less than the fifth threshold value, which is not limited by the present application. In order to flexibly determine the driving speed of the first carrying robot according to different routes of the first carrying robot, so that the first carrying robot can pick up and deliver goods more quickly and smoothly.

[0121] In one embodiment, the present application provides an optional method for determining pickup information, which comprises the following steps:

[0122] The control terminal 100 can obtain image information of the first carrying robot after sending the control instruction to the docking conveying line.

[0123] determine whether the first carrying robot successfully picks up the goods according to the image information;

[0124] if the first carrying robot successfully picks up the goods, determine whether the goods meet the pickup requirement;

[0125] if the first carrying robot fails to pick up the goods, determine that the pickup information is the second information;

[0126] if the goods meet the pickup requirement, determine that the pickup information is the first information;

[0127] if the goods do not meet the pickup requirement, determine that the pickup information is the third information.

[0128] The image information can be collected by an image collection device on the first carrying robot, or can be collected by an image collection device (such as a camera) arranged in the movement range of the first carrying robot, which is not limited in the present application.

[0129] After the control terminal 100 obtains the image of the first carrying robot, the image can be processed by image segmentation, image separation, image comparison, etc., and the processing result is obtained. When the processing result is that the first carrying robot successfully picks up the goods and the goods meet the pickup requirement, it is determined that the pickup information is the first information; when the processing result is that the first carrying robot fails to pick up the goods, it is determined that the pickup information is the second information; when the processing result is that the first carrying robot successfully picks up the goods but the goods do not meet the pickup requirement, it is determined that the pickup information is the third information. For example, a trained neural network model can be stored in the control terminal 100. The image of the goods is input into the neural network model, and the type of the pickup information can be determined according to the output result of the neural network model.

[0130] It should be noted that, in general, the route of the first carrying robot for transporting goods is pre-set, so the control terminal 100 or the first carrying robot can have the first, second, third, fourth and fifth sub-speeds pre-set and stored in the corresponding memory addresses in advance. When the first carrying robot starts, it only needs to determine its position and determine its driving speed according to the demand; or, the control terminal 100 sends a corresponding instruction to control the first carrying robot to drive at the driving speed indicated in the instruction after determining that the first carrying robot has reached the predetermined position, which is not limited in the present application.

[0131] After the control terminal 100 or the first carrying robot determines the first driving speed of the first carrying robot according to the above method, it is still necessary to continue to determine the driving strategy of the first carrying robot, which can be determined according to the following method:

[0132] determining a travel strategy of the first carrying robot according to a height difference between the first carrying robot and the conveying line;

[0133] wherein, when the height of the conveying line is greater than the height of the first carrying robot, the travel strategy is that the first carrying robot travels from below the conveying line in the same travel direction as the conveying direction of the conveying line;

[0134] when the height of the conveying line is equal to the height of the first carrying robot, the travel strategy is that the first carrying robot travels from the outside of the conveying line in a travel direction different from the conveying direction of the conveying line.

[0135] wherein, the control terminal 100 can be pre-set with a travel strategy according to the environment, the pickup point, the drop-off point and other factors when each carrying robot carries goods, and the travel strategy includes the travel route and the travel direction of the first carrying robot. The travel route is the planning of the goods carrying device 300 traveling from the starting point to the end point along the preset route. The travel strategy can include one, or multiple travel strategies can be set according to multiple destinations passed by the first carrying robot in the process of picking up and dropping off goods, which is not limited in the present application.

[0136] For example, the control terminal 100 can be pre-set with a first travel strategy for the first carrying robot to travel from the current position to the starting end of the conveying line; a second travel strategy for the first carrying robot to travel from the starting end of the conveying line to the pickup position; a third travel strategy for the first carrying robot to travel from the pickup position to the target drop-off point; a fourth travel strategy for the first carrying robot to travel from the pickup position of the conveying line to the manual drop-off point; a fifth travel strategy for the first carrying robot to travel from the pickup position to the starting end of the conveying line; a sixth travel strategy for the first carrying robot to travel from the target drop-off point to the starting end of the conveying line; a seventh travel strategy for the first carrying robot to travel from the manual drop-off point to the starting end of the conveying line, and so on, which is not listed here.

[0137] It should be noted here that due to the limitation of the first carrying robot's pickup information, the first carrying robot only needs to travel according to part of the above travel strategies in the process of picking up and dropping off goods.

[0138] In addition, the multiple travel strategies set by the control terminal 100 or the first carrying robot can be to determine the travel route of the first carrying robot according to the straight-line distance between two points, and to travel in the travel direction from the starting point to the end point. It can also be to determine the travel route of the first carrying robot according to other factors, which is not limited in the present application. The present application sets multiple travel strategies for the first carrying robot, which can ensure that each carrying robot carries goods in an orderly manner according to a unified route, reduces the collision and other situations that may occur during the travel of each carrying robot, and thus improves the carrying efficiency of each carrying robot.

[0139] It should be noted that the control terminal 100 can store the determined travel strategy in the corresponding memory address, and when the control terminal 100 determines that each transport robot needs to transport the goods, the control terminal 100 can obtain the travel strategy from the corresponding memory address, and send the travel strategy and the first travel speed to each transport robot, so that each transport robot transports the goods according to the travel strategy and the first travel speed, thereby ensuring that each transport robot can successfully receive the goods from the docking conveying line without stopping, and achieving the purpose of improving the efficiency of each transport robot in transporting the received goods.

[0140] In one embodiment, the control terminal 100 in the method for receiving goods provided by the present application can set the following two travel strategies for the first transport robot from the starting end of the conveying line to the receiving position.

[0141] The first travel strategy is as shown in FIG. 2A. Figure 13

[0142] When the height of the conveying line is greater than the height of the first transport robot, the travel strategy is that the first transport robot travels from below the goods conveying device in the same travel direction as the conveying direction of the goods conveying device.

[0143] In this embodiment, since the gap is provided between the support portions 202 of the conveying line, if the height of the upper end surface of the conveying line conveying the goods from the ground is greater than the height of the upper end surface of the receiving tray of the first transport robot from the ground, in order to facilitate the first transport robot to receive the goods from the docking conveying line, the present embodiment can set the following travel strategy: instructing the first transport robot to travel from the gap between the support portions 202 of the conveying line (i.e., below the lower end surface of the conveying line). It should be noted that the value of the height of the upper end surface of the conveying line above the upper end surface of the first transport robot is within a predetermined range, for example, 0.01m-0.05m. By setting the value within the predetermined range, the situation that the first transport robot cannot successfully receive the goods from the docking conveying line due to the large height difference can be avoided.

[0144] When the first transport robot travels from below the conveying line, the travel direction of the first transport robot can be set to be the same as the conveying direction of the conveying line conveying the goods. That is, the directions of the first travel speed and the second travel speed are the same.

[0145] When the control terminal 100 determines the travel strategy of the first transport robot, the control terminal 100 can send the travel strategy to the first transport robot. After receiving the travel strategy sent by the control terminal 100, the first transport robot travels from the starting end of the conveying line to the receiving position according to the travel strategy combined with the first travel speed.

[0146] ​For example, the height of the multi-section conveying line is 1.3 m, and the height of the first carrying robot is 1.2 m. Since there is a gap between the support structures 302 of the multi-section conveying line, the first carrying robot can pass below the lower end surface of the multi-section conveying line and reach the travel end point.

[0147] Secondly, as shown in Figure 14

[0148] When the height of the conveying destination is equal to the height of the first carrying robot, the travel strategy is that the first carrying robot travels in a travel direction different from the conveying direction of the goods conveying device from the outside of the goods conveying device.

[0149] When the height of the upper end surface of the conveying line from the ground is equal to the height of the receiving tray of the first carrying robot from the ground, the first carrying robot cannot travel from the gap between the support portions 202 of the conveying line. Then, the first carrying robot can travel along the outside of the multi-section conveying line, or travel in a travel route perpendicular to the multi-section conveying line, or travel in a travel route at a preset angle to the multi-section conveying line, which is not limited in the present application.

[0150] When the first carrying robot travels from the outside of the conveying line, the travel direction of the first carrying robot can be perpendicular to or at a preset angle to the direction in which the conveying line conveys goods. That is, the direction of the first travel speed is different from the direction of the second travel speed.

[0151] In another embodiment, if the first carrying robot travels along the outside of the conveying line, the travel direction of the first carrying robot can also be the same as the direction in which the conveying line conveys goods, that is, the direction of the first travel speed is the same as the direction of the second travel speed.

[0152] When the control terminal 100 determines the travel strategy of the first carrying robot, the travel strategy can be sent to the first carrying robot. After receiving the travel strategy sent by the control terminal 100, the first carrying robot travels from the starting end of the conveying line to the receiving position according to the travel strategy combined with the first travel speed.

[0153] For example, the height of the conveying line is 1.3 m, and the height of the first carrying robot is 1.3 m. The first carrying robot can travel in a travel method perpendicular to the conveying line according to a travel route from a position away from the conveying line to the receiving position.

[0154] In another embodiment, the control terminal 100 can trigger the first carrying robot to travel according to the first travel speed and the travel strategy by sending a first instruction to the first carrying robot.

[0155] ​In yet another embodiment, the first instruction comprises a first sub-instruction and a second sub-instruction, and the control terminal 100 can send the first sub-instruction to the first transfer robot to instruct the first transfer robot to travel from the current position to the start end of the conveying line according to the first self-speed, in a case where the distance between the first transfer robot and the start end of the conveying line is greater than or equal to the first threshold value.

[0156] The control terminal 100 can send the second sub-instruction to the first transfer robot to instruct the first transfer robot to travel from the start end of the conveying line to the receiving position according to the second sub-speed, in a case where the first transfer robot travels to the start end of the conveying line and the length of the goods on the goods conveying device that needs to be transferred is less than or equal to the second threshold value.

[0157] The first instruction further comprises a third sub-instruction, a fourth sub-instruction and a fifth sub-instruction, and sending the first instruction to the first transfer robot comprises:

[0158] The control terminal 100 can send the third sub-instruction to the first transfer robot to instruct the first transfer robot to travel from the receiving position to the target unloading point according to the third sub-speed to unload the goods, in a case where the first transfer robot travels to the receiving position and successfully receives the goods and the goods meet the receiving requirements.

[0159] The control terminal 100 can send the fourth sub-instruction to the first transfer robot to instruct the first transfer robot to travel from the receiving position to the start end of the conveying line according to the fourth sub-speed to re-queue for receiving the goods, in a case where the first transfer robot travels to the receiving position and fails to receive the goods.

[0160] The control terminal 100 can send the fifth sub-instruction to the first transfer robot to instruct the first transfer robot to travel from the receiving position to the manual delivery point according to the fifth sub-speed to unload the goods, in a case where the first transfer robot travels to the receiving position and successfully receives the goods but the goods do not meet the receiving requirements.

[0161] It should be noted here that each sub-instruction can carry a travel speed and a travel strategy of the first transfer robot, so that the first transfer robot can travel according to the travel speed and the travel strategy corresponding to the sub-instruction after receiving the sub-instruction.

[0162] In another embodiment, the first instruction can also only comprise one instruction, and the first instruction is sent to the first transfer robot after the first travel speed and the travel strategy of the first transfer robot are determined, so that the first transfer robot travels according to the first travel speed and the travel strategy, wherein the first instruction can comprise one travel speed and one travel strategy, or can comprise multiple travel speeds and travel strategies, which are not limited in the present application. In this way, the multiple interactions between the instruction sender and the instruction receiver can be avoided, and the waste of network resources can be avoided.

[0163] In one embodiment, the first travel speed further comprises a third speed:

[0164] After the first carrying robot completes unloading at the target unloading point according to the third sub-speed, a distance between the target unloading point and the start end of the conveying line is determined.

[0165] If the distance between the target unloading point and the start end of the conveying line is greater than or equal to a sixth threshold value, it is determined that the travel speed of the first carrying robot from the target unloading point to the start end of the conveying line is the third speed, and the third speed is greater than or equal to the second speed.

[0166] Wherein, after the first carrying robot carries the goods to the target unloading point, it still needs to continue to receive the goods from the conveying line, so after the first carrying robot unloads the goods to the target unloading point, it needs to return to the start end of the conveying line, and the first carrying robot can continue to travel according to the current speed, or travel according to the third speed re-determined, which is not limited by the present application. When the first carrying robot needs to travel from the target unloading point to the start end of the conveying line according to the third speed, the control terminal 100 or the first carrying robot can determine the third speed according to the ratio between the distance between the target unloading point and the start end of the conveying line and the sixth threshold value. The third speed can be a speed equal to or greater than the second speed, and the first carrying robot travels from the target unloading point to the start end of the conveying line at the third speed, which can quickly re-enter the start end of the conveying line to receive goods, thereby achieving the purpose of improving the efficiency of receiving goods.

[0167] Then when the first carrying robot successfully unloads at the target unloading point, it can receive a sixth sub-instruction sent by the control terminal 100, which carries the third speed, so that the first carrying robot travels from the target unloading point to the start end of the conveying line at the third speed according to the indication of the sixth sub-instruction.

[0168] In another embodiment, after the first carrying robot successfully unloads at the target unloading point, the control terminal 100 can also not send any instruction, so that the first carrying robot continues to travel according to the current speed.

[0169] In yet another embodiment, the first travel speed further comprises a fourth speed:

[0170] After the first carrying robot completes unloading at the manual drop-off point according to the fifth sub-speed, a distance between the manual drop-off point and the start end of the conveying line is determined.

[0171] If the distance between the manual drop-off point and the start end of the conveying line is greater than or equal to a seventh threshold value, it is determined that the travel speed of the first carrying robot from the manual drop-off point to the start end of the conveying line is the fourth speed, and the fourth speed is greater than or equal to the second speed.

[0172] When the first carrying robot carries the goods to the manual drop-off point, it still needs to continue to pick up the goods from the conveying line, so after the first carrying robot unloads the goods to the manual drop-off point, it needs to return to the starting end of the conveying line. The first carrying robot can continue to travel according to the current speed, or it can travel according to the fourth speed re-determined, which is not limited in the present application. When the first carrying robot needs to travel from the manual drop-off point to the starting end of the conveying line according to the fourth speed, the control terminal 100 or the first carrying robot can determine the fourth speed according to the ratio between the distance between the manual drop-off point and the starting end of the conveying line and the seventh threshold value. The fourth speed can be a speed equal to or greater than the second speed. The first carrying robot travels from the manual drop-off point to the starting end of the conveying line through the fourth speed, which can quickly re-enter the starting end of the conveying line to pick up the goods, thereby achieving the purpose of improving the efficiency of picking up the goods.

[0173] When the first carrying robot successfully unloads the goods at the manual drop-off point, it can receive the seventh sub-instruction sent by the control terminal 100, which carries the fourth speed, so that the first carrying robot travels from the manual drop-off point to the starting end of the conveying line according to the indication of the seventh sub-instruction through the fourth speed.

[0174] In another embodiment, when the first carrying robot successfully unloads the goods at the manual drop-off point, the control terminal 100 can also not send any instructions to make the first carrying robot continue to travel according to the current speed.

[0175] In another embodiment, the goods carrying device further comprises a second carrying robot, and the method further comprises:

[0176] After the first carrying robot travels for a preset period of time, a second instruction is sent to the second carrying robot, and the second instruction is used to instruct the second carrying robot to pick up the goods according to the first travel speed and the travel strategy.

[0177] The goods carrying device 300 can include multiple carrying robots, which can be carrying robots with the same structure or different structures. The multiple carrying robots can travel from below or outside the conveying line in sequence. For ease of description, the first carrying robot can be referred to as the first carrying robot, the second carrying robot can be referred to as the second carrying robot, and so on.

[0178] In order to make the plurality of carrying robots orderly carry the goods, and at the same time, in order to avoid the plurality of carrying robots from colliding in the process of driving, the control terminal 100 can continue to send the first instruction to the first carrying robot after sending the first driving speed and the driving strategy to each carrying robot, and instruct the first carrying robot to drive at the first driving speed according to the driving strategy through the first instruction.

[0179] After the first carrying robot drives for a preset time period, the control terminal 100 can continue to send the second instruction to the second carrying robot, and instruct the second carrying robot to drive at the first driving speed according to the driving strategy through the second instruction. It should be noted here that the first driving speed of the second carrying robot and the first driving speed of the first carrying robot can be different.

[0180] The preset time period is, for example, 20s, 10s, 5s, 3s, etc., which can be determined according to historical experimental data and is not limited here.

[0181] In another embodiment, the goods carrying device 300 further comprises a third carrying robot, and the control terminal 100 can continue to send the third instruction to the third carrying robot after the second carrying robot drives for a preset time period, and instruct the third carrying robot to drive at the first driving speed according to the driving strategy through the third instruction. In this way, until all the carrying robots in the goods carrying device 300 are put into operation, that is, all are in the state of receiving goods.

[0182] Step S1002, receiving the trigger information sent by the sensor, when the sensor senses that the first carrying robot drives to the target position, the sensor sends the trigger information to the control terminal 100, and the target position is any one of the plurality of positions where the sensor can sense the first carrying robot,

[0183] Wherein, the docking conveying line is the last conveying line in the conveying line. The sensor can be an infrared sensor, a distance sensor, a sound sensor, etc. The sensor can be arranged on the side of the goods carrying part 201 of the docking conveying line away from the frontmost conveying line, can also be arranged at the center of the bottom of the goods carrying part 201 of the docking conveying line, can also be arranged on the support part 202 of the docking conveying line, and can also be arranged on the periphery of the docking conveying line, which is not limited in the present application. As long as it can sense the driving of each carrying robot to the target position, the process continues as follows Figure 12As shown, the target position can be a position at a preset distance from the docking conveying line, a position matching the length and width of the docking conveying line and facilitating goods receiving, or a position preset by the control terminal 100, which is not limited in the present application. Since the first carrying robot can travel to the goods receiving position by different travel strategies, the sensor can sense the first carrying robot when the first carrying robot travels to multiple different positions. Therefore, the target position can be any one of the multiple positions sensed by the sensor, and further can be the position of the first carrying robot when the sensor first senses the first carrying robot.

[0184] When the sensor senses that the first carrying robot travels to the target position, the sensor generates trigger information and sends the trigger information to the control terminal 100, so that the control terminal 100 sends a control instruction to the docking conveying line according to the trigger information, to instruct the docking conveying line to convey the goods to the first carrying robot at the first speed.

[0185] It should be noted here that the docking conveying line can be in the process of conveying goods according to the control instruction of the control terminal 100 at the second travel speed, and conveying the goods to the first carrying robot at the second travel speed. The second travel speed can be the same as any one of the first travel speeds, or can be different from the first travel speed, as long as the docking conveying line can convey the goods to the first carrying robot.

[0186] In addition, the control terminal 100 can send a pause instruction to the docking conveying line when the carrying robot has not traveled to the target position and the goods have been stored on the docking conveying line, so that the docking conveying line waits for the control terminal 100 to send a control instruction before conveying the goods to the first carrying robot. Correspondingly, the control terminal 100 can also send a pause instruction to other conveying lines to instruct other conveying lines to enter a waiting state, so as to avoid too many goods stored on multiple conveying lines affecting goods receiving.

[0187] Step S1003, in response to the trigger information, a control instruction is sent to the docking conveying line to make the docking conveying line perform a target action according to the control instruction. The target action is that the docking conveying line conveys the goods at the second travel speed, so that the first carrying robot conveys the goods on the docking conveying line to the first carrying robot during the process of the first carrying robot traveling at the first travel speed.

[0188] According to the above description, the control terminal 100 can send a control instruction to the docking conveying line after receiving the trigger information sent by the sensor, so that the docking conveying line conveys the goods at the second conveying speed, and the first carrying robot conveys the goods on the docking conveying line to the first carrying robot at the first conveying speed.

[0189] It should be noted that the docking conveying line can continue to convey the goods to the first carrying robot at the second conveying speed according to the control instruction when it is in a working state, or the docking conveying line can convey the goods to the first carrying robot at the second conveying speed after entering the transmission state according to the control instruction when it is in a static state. The present application does not limit this.

[0190] The present application also provides a corresponding carrying method for the goods receiving method. Figure 1 The carrying method is applied to the carrying robot in the goods conveying device 200, and the relationship between the carrying robot and the control terminal 100 and the goods conveying device 200 is described above, and will not be repeated here. The carrying method comprises the following steps:

[0191] When the docking conveying line conveys the goods at the second conveying speed according to the control instruction transmitted by the control terminal 100, the carrying robot travels at the first conveying speed.

[0192] The carrying robot is any one of the carrying robots in the goods conveying device 300, and the docking conveying line is the last conveying line in the goods conveying device 200. The control terminal 100 will send the determined conveying strategy and the first conveying speed to each carrying robot before putting the carrying robots in the goods conveying device 300. The conveying strategy includes the travel route and direction of each carrying robot. The second conveying speed can be determined according to the conveying speed of the goods conveying device 200, the number, size, weight and other parameters of the goods, so that the first conveying speed and the conveying strategy of the goods conveying device 300 can be used for carrying the goods.

[0193] Therefore, in the process of the first carrying robot traveling at the first conveying speed, the multiple conveying lines of the goods conveying device 200 can convey the goods at the second conveying speed according to the control instruction of the control terminal 100.

[0194] When the carrying robot travels to the detection area of the sensor, the goods conveyed on the docking conveying line are received.

[0195] When the carrying robot is running at the first running speed, if the carrying robot runs to the detection area of the sensor arranged on the docking conveying line, the sensor can detect it and generate a trigger message sent to the control terminal 100. The control terminal 100 sends a control instruction to the docking conveying line according to the trigger message, so that the carrying robot can receive the goods conveyed by the docking conveying line during running at the first running speed.

[0196] In another implementation, further comprising:

[0197] Receiving the first instruction sent by the control terminal 100, the first instruction carrying the first running speed and the running strategy;

[0198] According to the first running speed and the running strategy, the goods are received.

[0199] In another embodiment, the first instruction includes a first sub-instruction, receiving the first instruction includes:

[0200] Receiving the first sub-instruction sent by the control terminal 100, the first sub-instruction carrying the first sub-speed;

[0201] According to the first sub-speed, running from the current position to the starting end of the conveying line.

[0202] In another embodiment, the first instruction further includes a second sub-instruction, receiving the first instruction includes:

[0203] Receiving the second sub-instruction sent by the control terminal 100, the second sub-instruction carrying the second sub-speed;

[0204] According to the second sub-speed, running from the starting end of the conveying line to the receiving position.

[0205] In another embodiment, the first instruction includes a third sub-instruction, receiving the first instruction includes:

[0206] Receiving the third sub-instruction sent by the control terminal 100, the third sub-instruction carrying the third sub-speed;

[0207] According to the third sub-speed, running from the receiving position to the target unloading point to unload.

[0208] In another embodiment, the first instruction includes a fourth sub-instruction, receiving the first instruction includes:

[0209] Receiving the fourth sub-instruction sent by the control terminal 100, the fourth sub-instruction carrying the fourth sub-speed;

[0210] According to the fourth sub-speed, running from the receiving position to the starting end of the conveying line to requeue the receiving.

[0211] In another embodiment, the first instruction comprises a fifth sub-instruction, receiving the first instruction comprises:

[0212] receiving a fifth sub-instruction sent by the control terminal 100, the fifth sub-instruction carrying a fifth sub-speed;

[0213] driving from the receiving location to the manual drop-off point according to the fifth sub-speed to unload the goods.

[0214] In one embodiment, further comprising:

[0215] receiving acquisition information sent by the control terminal 100;

[0216] sending the collected image information to the control terminal 100 according to the acquisition information.

[0217] In another embodiment, further comprising:

[0218] receiving a sixth sub-instruction sent by the control terminal 100 after the driving from the receiving location to the target unloading point according to the third sub-speed to unload the goods is completed, the sixth sub-instruction carrying the third speed;

[0219] driving from the target unloading point to the start end of the conveying line according to the sixth instruction at the third speed.

[0220] In yet another embodiment, further comprising:

[0221] receiving a seventh sub-instruction sent by the control terminal 100 after the driving from the receiving location to the manual drop-off point according to the fifth sub-speed to unload the goods is completed, the seventh sub-instruction carrying a fourth speed;

[0222] driving from the manual drop-off point to the start end of the conveying line according to the seventh instruction at the fourth speed.

[0223] It should be understood that although each step in the flowchart involved in each of the above embodiments is shown in sequence according to the direction of the arrow, these steps are not necessarily executed in sequence according to the direction of the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in each of the above embodiments can comprise multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or steps or stages in other steps.

[0224] Based on the same inventive concept, the embodiments of the present application also provide a control terminal 100 for implementing the above-mentioned control method. The implementation scheme of the control terminal 100 for solving the problem is similar to the implementation scheme described in the above method, and therefore the specific limitations in one or more embodiments of the control terminal 100 provided below can refer to the limitations of the above-mentioned goods receiving method, which will not be described here again.

[0225] In one embodiment, as shown in Figure 15 A control terminal 100 is provided, which comprises a determination module 1501, a receiving module 1502, and a sending module 1503,

[0226] The determination module 1501 is configured to determine a first driving speed and a driving strategy of a first carrying robot when the first carrying robot is required to carry goods, and trigger the first carrying robot to drive according to the first driving speed and the driving strategy, the first carrying robot being any one of the carrying robots in the goods carrying device.

[0227] The receiving module 1502 is configured to receive trigger information sent by a sensor, the sensor sending the trigger information to the control terminal 100 when the sensor senses that the first carrying robot drives to a target position, the target position being any one of a plurality of positions at which the sensor can sense the first carrying robot.

[0228] The sending module 1503 is configured to send a control instruction to the docking conveying line in response to the trigger information, so that the docking conveying line performs a target action according to the control instruction, the target action being that the docking conveying line conveys goods on the docking conveying line to the first carrying robot at a second driving speed, so that the first carrying robot conveys the goods on the docking conveying line to the first carrying robot at the first driving speed.

[0229] In another embodiment, a carrying robot is provided, which comprises a receiving module,

[0230] The receiving module is configured to receive goods conveyed on the docking conveying line when the carrying robot drives to a detection area of the sensor, wherein the carrying robot drives at a first speed when the docking conveying line conveys the goods at the first speed according to the control instruction transmitted by the control terminal 100.

[0231] The above-mentioned control terminal 100 and the carrying robot can be implemented by software, hardware, and a combination thereof, in whole or in part. The above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above-mentioned modules.

[0232] In one embodiment, as shown in Figure 16As shown, Figure 16 Fig. 1 is a schematic diagram of an internal structure of a delivery robot, which includes a processor, a memory and a network interface connected through a system bus. The processor of the delivery robot is configured to provide computing and control capabilities. The memory of the delivery robot includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The database of the delivery robot is configured to store a traveling strategy, an instruction, and information of a pickup sent by a control terminal 100. The network interface of the delivery robot is configured to communicate with an external terminal through a network connection. The computer program is configured to implement the delivery method when executed by the processor.

[0233] Those skilled in the art can understand that, Figure 16 The structure shown in the above embodiment is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0234] In addition, the embodiment further provides a computer readable storage medium, which stores a computer program. The computer program is configured to implement the pickup method of any one of the above embodiments when executed by a processor.

[0235] In addition, the embodiment further provides a computer program product, which includes a computer program. The computer program is configured to implement the pickup method of any one of the above embodiments when executed by a processor.

[0236] It is easy to understand that, based on the several embodiments provided by the embodiments of the present application, those skilled in the art can combine, split, recombine, etc. the embodiments of the embodiments of the present application to obtain other embodiments, and these embodiments do not exceed the protection scope of the embodiments of the present application.

[0237] The above detailed description of the embodiments of the present application further describes the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above is only a specific embodiment of the present application, and is not used to limit the protection scope of the embodiments of the present application. Any modification, equivalent replacement, improvement, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A method for receiving goods, characterized in that, The method is applied to a control terminal, which is communicatively connected to a cargo conveying device and a cargo handling device, respectively. The cargo conveying device includes a conveyor line, and sensors are arranged on the docking conveyor line at the end of the conveyor line or around the docking conveyor line. When the first handling robot needs to move goods, a first driving speed and driving strategy of the first handling robot are determined, and the first handling robot is triggered to drive according to the first driving speed and the driving strategy. The first handling robot is any one of the handling robots in the goods handling equipment. The sensor receives the trigger information sent by the sensor. When the sensor senses that the first handling robot has moved to the target position, the sensor sends the trigger information to the control terminal. The target position is any one of the multiple positions of the first handling robot that the sensor can sense. In response to the triggering information, a control command is sent to the docking conveyor line so that the docking conveyor line performs a target action according to the control command. The target action is that the docking conveyor line moves at a second travel speed so that the goods on the docking conveyor line are transferred to the first handling robot while the first handling robot is moving at the first travel speed. Wherein, the first travel speed is different from the second travel speed, and determining the first travel speed of the first transport robot includes: The first travel speed is determined based on the length of the goods to be transported on the conveyor line, the distance between the first handling robot and the starting end of the conveyor line, the distance between the receiving position and the preset position, and the receiving information of the first handling robot. When the receiving information is the first receiving information, the preset location is the target unloading point; when the receiving information is the second receiving information, the preset location is the manual delivery point.

2. The receiving method according to claim 1, characterized in that, The first travel speed includes a first speed and a second speed. Determining the first travel speed based on the length of goods to be transported on the conveyor line, the distance between the first handling robot and the starting end of the conveyor line, the distance between the receiving position and a preset position, and the receiving information of the first handling robot includes: The first speed is determined based on the length of the goods to be transported on the conveyor line and the distance between the first handling robot and the starting end of the conveyor line, so that the first handling robot can travel from the current position to the receiving position according to the first speed; The second speed is determined based on the distance between the receiving location and the preset location and the receiving information of the first handling robot, so that the first handling robot can travel from the receiving location to the preset location according to the second speed, wherein the first speed is greater than or equal to the second speed.

3. The receiving method according to claim 2, characterized in that, The first speed includes a first sub-speed and a second sub-speed. Determining the first speed based on the length of goods to be transported on the conveyor line and the distance between the first handling robot and the starting end of the conveyor line includes: If the distance between the first handling robot and the starting end of the conveyor line is greater than or equal to the first threshold, then the travel speed of the first handling robot from its current position to the starting end of the conveyor line is determined as the first sub-speed. If the length of the goods to be transported on the goods conveying equipment is less than or equal to the second threshold, then the second travel speed is determined as the second sub-speed of the first handling robot traveling from the beginning of the conveyor line to the receiving position, and the first sub-speed is greater than the second sub-speed.

4. The receiving method according to claim 2, characterized in that, The second speed includes a third sub-speed. Determining the second speed based on the distance between the receiving position and the preset position and the receiving information of the first handling robot includes: If the receiving information of the first handling robot is the first information, then the preset location is determined as the target unloading point, and the first information is information indicating that the first handling robot has successfully received the goods and the goods meet the receiving requirements. If the distance between the receiving location and the target unloading point is greater than or equal to the third threshold, then the travel speed of the first handling robot from the receiving location to the target unloading point is determined as the third sub-speed.

5. The receiving method according to claim 4, characterized in that, The second speed also includes a fourth sub-speed. Determining the second speed based on the distance between the receiving position and the preset position, and the receiving information of the first handling robot, includes: If the receiving information of the first handling robot is the second information, then the preset position is determined to be the starting end of the conveyor line, and the second information indicates that the first handling robot failed to receive the goods. If the distance between the receiving position and the starting end of the conveyor line is greater than or equal to the fourth threshold, then the travel speed of the first handling robot from the receiving position to the starting end of the conveyor line is determined as the fourth sub-speed.

6. The receiving method according to claim 5, characterized in that, The second speed also includes a fifth sub-speed. Determining the second speed based on the distance between the receiving position and the preset position, and the receiving information of the first handling robot, includes: If the receiving information of the first handling robot is the third information, then the preset location is determined to be a manual delivery point, and the third information is information indicating that the first handling robot has successfully received the goods but the goods do not meet the receiving requirements. If the distance between the receiving location and the manual delivery point is greater than or equal to the fifth threshold, then the travel speed of the first handling robot from the receiving location to the manual delivery point is determined as the fifth sub-speed.

7. The receiving method according to any one of claims 3-6, characterized in that, Determining the driving strategy of the first transport robot includes: The driving strategy of the first handling robot is determined based on the height difference between the first handling robot and the conveyor line; Wherein, when the height of the conveyor line is greater than the height of the first handling robot, the driving strategy is that the first handling robot travels from below the conveyor line in the same driving direction as the conveyor line; When the height of the conveyor line is equal to the height of the first handling robot, the driving strategy is that the first handling robot travels from the outside of the conveyor line in a driving direction different from the conveying direction of the conveyor line.

8. The receiving method according to claim 7, characterized in that, If the first handling robot travels under the conveyor line in the same direction as the conveying direction of the conveyor line, then the first travel speed and the second travel speed are in the same direction. If the first transport robot travels from the outside of the conveyor line in a direction different from the conveying direction of the conveyor line, then the first travel speed is perpendicular to the direction of the second travel speed or at a preset angle.

9. The receiving method according to claim 8, characterized in that, The triggering of the first transport robot to travel according to the first travel speed and the travel strategy includes: After determining the first driving speed and driving strategy of the first handling robot, a first instruction is sent to the first handling robot, which instructs the first handling robot to pick up and deliver goods according to the first driving speed and the driving strategy.

10. The receiving method according to claim 9, characterized in that, The first instruction includes a first sub-instruction and a second sub-instruction. The first sub-instruction carries a first sub-velocity, and the second sub-instruction carries a second sub-velocity. Sending the first instruction to the first handling robot includes: If the distance between the first handling robot and the starting end of the conveyor line is greater than or equal to a first threshold, then a first sub-instruction is sent to the first handling robot to make the first handling robot travel from its current position to the starting end of the conveyor line according to the first sub-speed; If the first handling robot travels to the beginning of the conveyor line, and the length of the goods to be transported on the goods conveying device is less than or equal to the second threshold, then a second sub-instruction is sent to the first handling robot so that the first handling robot travels from the beginning of the conveyor line to the receiving position according to the second sub-speed.

11. The receiving method according to claim 9, characterized in that, The first instruction further includes a third sub-instruction, a fourth sub-instruction, and a fifth sub-instruction. The third sub-instruction carries a third sub-velocity, the fourth sub-instruction carries a fourth sub-velocity, and the fifth sub-instruction carries a fifth sub-velocity. Sending the first instruction to the first handling robot includes: If the first handling robot successfully picks up the goods at the receiving position and the goods meet the receiving requirements, a third sub-instruction is sent to the first handling robot so that the first handling robot can travel from the receiving position to the target unloading point to unload the goods according to the third sub-speed. If the first handling robot travels to the receiving position and fails to receive the goods, a fourth sub-instruction is sent to the first handling robot so that the first handling robot travels from the receiving position to the beginning of the conveyor line according to the fourth sub-speed to re-queue for receiving goods. If the first handling robot successfully picks up the goods at the receiving location but the goods do not meet the receiving requirements, a fifth sub-instruction is sent to the first handling robot so that the first handling robot can travel from the receiving location to the manual delivery point for unloading according to the fifth sub-speed.

12. The receiving method according to claim 11, characterized in that, The first driving speed also includes a third speed, and the method further includes: After the first handling robot travels from the receiving position to the target unloading point and unloads the goods according to the third sub-speed, the distance between the target unloading point and the starting end of the conveyor line is determined; If the distance between the target unloading point and the starting end of the conveyor line is greater than or equal to the sixth threshold, then the travel speed of the first handling robot from the target unloading point to the starting end of the conveyor line is determined as the third speed, and the third speed is greater than or equal to the second speed.

13. The receiving method according to claim 11, characterized in that, The first driving speed also includes a fourth speed, and the method further includes: After the first handling robot travels from the receiving position to the manual delivery point to unload the goods according to the fifth sub-speed, the distance between the manual delivery point and the starting end of the conveyor line is determined; If the distance between the manual delivery point and the starting end of the conveyor line is greater than or equal to the seventh threshold, then the travel speed of the first handling robot from the manual delivery point to the starting end of the conveyor line is determined to be the fourth speed, and the fourth speed is greater than or equal to the second speed.

14. The receiving method according to claim 6, characterized in that, The method further includes: After sending the control command to the docking conveyor line, image information containing the first handling robot is acquired; Based on the image information, determine whether the first handling robot has successfully received the goods; If the goods are successfully received, determine whether the goods meet the receiving requirements; If the delivery fails, the delivery information is determined to be the second information; If the goods meet the receiving requirements, then the receiving information is determined to be the first information; If the goods do not meet the receiving requirements, then the receiving information is determined to be the third information.

15. The receiving method according to claim 9, characterized in that, The cargo handling equipment further includes a second handling robot, and the method further includes: After the first transport robot has traveled for a preset time period, a second instruction is sent to the second transport robot. The second instruction is used to instruct the second transport robot to pick up and deliver goods according to the first travel speed and the travel strategy.

16. A method for handling materials, characterized in that, The method is applied to a handling robot, which is communicatively connected to a control terminal. The control terminal is connected to a cargo conveying device, which includes multiple conveyor lines. Sensors are installed on the docking conveyor line at the very end of the multiple conveyor lines or around the docking conveyor line. The method includes: When the docking conveyor line is conveying goods at a second travel speed according to the control instructions transmitted by the control terminal, the handling robot travels at a first travel speed. The first travel speed is different from the second travel speed, and the first travel speed is determined based on the length of goods to be conveyed on the multi-segment conveyor line, the distance between the handling robot and the starting end of the multi-segment conveyor line, the distance between the receiving position and the preset position, and the receiving information of the handling robot. When the receiving information is the first receiving information, the preset position is the target unloading point. When the receiving information is the second receiving information, the preset position is the manual delivery point. When the handling robot travels to the detection area of ​​the sensor, it receives the goods being transported on the docking conveyor line; When the transport robot travels to the detection area of ​​the sensor, the control terminal, in response to receiving the trigger message sent by the sensor, sends the control command to the docking conveyor line, so that the docking conveyor line responds to the control command and travels at the second travel speed.

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