Object carrying method, computer device, and storage medium

Abstract

The application discloses a target carrying method, a computer device and a storage medium. The method comprises the following steps: placing a target object in a target area, the target area is provided with at least two ranging sensors respectively at first boundaries in different directions, the ranging sensors are calibrated by taking the distance between the first boundary and the ranging sensor as a reference; obtaining sensor data collected by each ranging sensor on the target object; obtaining the offset of the second boundary of the target object relative to the first boundary by using at least two sensor data corresponding to each first boundary; and adjusting the posture of the target object by using the offset of the second boundary relative to the first boundary. The above scheme can improve the positioning accuracy of target object carrying.

Description

Technical Field

[0001] This application relates to the field of automation control technology, and in particular to a method for transporting a target, a computer device, and a computer-readable storage medium. Background Technology

[0002] With the continuous development of automated equipment, more and more application scenarios are using automated handling equipment to replace manual handling of target objects, thereby realizing the automation process of handling target objects and improving handling efficiency.

[0003] In automated processes, material handling equipment needs to place target objects at designated locations. Existing technologies often simply move to the target location based on corresponding instructions, thus placing the object there. Due to limitations in the structure and design of the material handling equipment, there is a problem of inaccurate point positioning of the handled object. Summary of the Invention

[0004] The main technical problem addressed by this application is to provide a method for transporting a target, a computer device, and a storage medium that can improve the positioning accuracy of the transported target.

[0005] To address the aforementioned problems, the first aspect of this application provides a method for transporting a target. The method includes: placing a target object in a target area, wherein at least two ranging sensors are respectively provided on the first boundaries of the target area in different directions, and the ranging sensors are calibrated using the distance between the first boundaries and the ranging sensors as a reference; acquiring sensor data collected by each ranging sensor from the target object; using the at least two sensor data corresponding to each first boundary to obtain the offset of the second boundary of the target object relative to the first boundary; and adjusting the attitude of the target object using the offset of the second boundary relative to the first boundary.

[0006] To address the aforementioned problems, a second aspect of this application provides a computer device comprising a memory and a processor coupled to each other, the memory storing program data and the processor executing any step of the method for transferring the program data to achieve the aforementioned objective.

[0007] To address the aforementioned problems, a third aspect of this application provides a computer-readable storage medium storing program data executable by a processor, the program data being used to implement any step of the transport method for achieving the aforementioned objective.

[0008] The above solution involves placing the target object in the target area. The ranging sensor is calibrated based on the distance between the first boundary and the ranging sensor. At least two ranging sensors can be set up for the first boundary in different directions to collect multiple sensor data from the target object. The offset of the second boundary of the target object relative to the first boundary in different directions is obtained. By combining the offsets of the second boundary relative to the first boundary in different directions, the attitude of the target object is adjusted. The angle and position of the target object can be readjusted for targets with inaccurate placement, improving the positioning accuracy of target object handling. It can also adapt to the handling of various moving devices for different targets, improving the accuracy of actual arrival at the point of contact for multiple devices. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in this application, the accompanying drawings required in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them:

[0010] Figure 1 This is a flowchart illustrating the first embodiment of the material handling method for the objective of this application;

[0011] Figure 2 This is an installation diagram of the first embodiment of the ranging sensor of this application;

[0012] Figure 3 This is an installation diagram of the second embodiment of the ranging sensor of this application;

[0013] Figure 4 This is an installation diagram of the third embodiment of the ranging sensor of this application;

[0014] Figure 5 This is a schematic diagram of a structure of an embodiment of the moving equipment used in this application for placing a target object;

[0015] Figure 6 This application Figure 1 A flowchart illustrating an embodiment of step S13;

[0016] Figure 7 This is a schematic diagram illustrating an embodiment of obtaining the offset in this application;

[0017] Figure 8 This is a schematic diagram illustrating another embodiment of obtaining the offset in this application;

[0018] Figure 9 This application Figure 1 A flowchart illustrating an embodiment of step S14;

[0019] Figure 10This is a flowchart illustrating the second embodiment of the material handling method for the objective of this application;

[0020] Figure 11 This is a flowchart illustrating the third embodiment of the transport method for the objective of this application;

[0021] Figure 12 This is an installation diagram of an embodiment of the calibration ranging sensor of this application;

[0022] Figure 13 This is a flowchart illustrating the fourth embodiment of the transport method for the objective of this application;

[0023] Figure 14 This is a schematic diagram of the structure of an embodiment in which the second reference object is placed;

[0024] Figure 15 This is a schematic diagram of the structure of an embodiment of the conveying device for the present application;

[0025] Figure 16 This is a schematic diagram of the structure of an embodiment of the computer device of this application;

[0026] Figure 17 This is a schematic diagram of the structure of an embodiment of the computer-readable storage medium of this application. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0028] The terms "first" and "second" in this application are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus.

[0029] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0030] In this document, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. Furthermore, "many" in this document means two or more. Moreover, the term "at least one" in this document means any combination of at least two of any one or more of a plurality of objects. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0031] This application provides the following embodiments, and each embodiment is described in detail below.

[0032] Please see Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the material handling method for the objective of this application. The method may include the following steps:

[0033] S11: Place the target object in the target area. The target area is located at the first boundary in different directions and is equipped with at least two ranging sensors. The ranging sensors are calibrated based on the distance between the first boundary and the ranging sensor.

[0034] In some implementations, the target handling method of this embodiment can be applied to handling equipment, mobile robots, AGVs (Automated Guided Vehicles), etc. It is understood that it can also be applied to other intelligent devices that handle target objects. The following description uses handling equipment as an example, but this application does not limit it.

[0035] In some implementations, please refer to Figure 2 The target area is provided with at least two ranging sensors on the first boundary in different directions, and there is a measurement distance between the at least two ranging sensors on the same first boundary. The ranging sensors can be infrared ranging sensors, camera sensors (such as depth camera sensors, monocular camera sensors, binocular camera sensors, etc.), laser sensors, ultrasonic sensors, etc. This application does not limit the type or placement of the ranging sensors.

[0036] In some embodiments, at least two ranging sensors are parallel to the first boundary, or at least two ranging sensors are not parallel to the first boundary. This application uses parallel to the first boundary as an example for illustration, but this application is not limited thereto.

[0037] In some implementations, at least two ranging sensors of different types are respectively provided at the first boundary of the target area in different directions. The different directions may include a first direction and a second direction. The first direction may be in front of or behind the target area, and the second direction may be to the side of the target area. For example, at least two infrared ranging sensors are provided at the first boundary of the first direction, and at least two camera sensors are provided at the first boundary of the second direction.

[0038] In some implementations, please refer to Figures 3 to 4 The target area 100 can be equipped with multiple ranging sensors 101 at its first boundaries in different directions, and at least two ranging sensors 101 of different types can be set at the same boundary of the target area 100. For example, two infrared ranging sensors or two camera sensors can be set at the first boundaries in the first direction X and the second direction Y, respectively. For example, two infrared ranging sensors and two camera sensors can be set at the first boundary in the first direction X, and two infrared ranging sensors and one or two laser sensors can be set at the first boundary in the second direction Y.

[0039] The ranging sensors 101 set at the first boundary in different directions can be the same, so that the same ranging sensor can be used to measure the distance to the target object. Alternatively, the ranging sensors 101 set at the first boundary in different directions can be different, so that the distance measurements of the target object are compared or combined using different ranging sensors 101, so that the obtained distance measurement is more accurate, and if one type of ranging sensor 101 is damaged, another type of ranging sensor 101 can be used.

[0040] In some implementations, the ranging sensor has a tolerance distance from the end position of the first boundary. That is, the ranging sensor located at the edge has a tolerance distance from the end position of the first boundary. In other words, when the placement position of the target object in the target area is offset from the first boundary, the ranging sensor located at the edge can also measure the distance of the corresponding second boundary of the target object due to the tolerance distance.

[0041] In some implementations, the ranging sensor is at a preset distance from a parallel first boundary, enabling ranging of offset targets.

[0042] In some implementations, different numbers, different measurement intervals, and / or different types of ranging sensors may be installed on the first boundary in different directions. For example, two ranging sensors may be installed on the first boundary in the first direction, and three ranging sensors may be installed on the first boundary in the second direction.

[0043] In some implementations, the ranging sensor is calibrated using the distance between the first boundary and the ranging sensor as a reference; that is, when the ranging sensor acquires the distance between the first boundary and the ranging sensor, the sensor data is zero.

[0044] In some implementations, please refer to Figure 5 The handling equipment can respond to a handling instruction for a target object and place the target object in a target area. The handling equipment can be parallel to a first boundary of the target area. The handling instruction instructs the target object to be moved to the target area. The target area can be used to place the target object, such as a target storage location. The target object can be an item, shelf, box, vehicle, etc., and this application does not impose any restrictions on this.

[0045] S12: Acquire sensor data collected by each ranging sensor from the target object.

[0046] After placing the target object in the target area, the sensor data collected by each ranging sensor on the target object is used. Thus, the moving device can obtain the sensor data collected by each ranging sensor on the target object. The distance of the ranging sensor is used to express the distance between the ranging sensor and the target object.

[0047] Among them, the ranging sensor is an infrared sensor, and the sensor data collected is infrared data; the ranging sensor is a camera sensor (such as a depth camera sensor, a monocular camera sensor, a binocular camera sensor, etc.), and the sensor data collected is image data. The distance between the target object and the camera sensor can be obtained from the image data. The following description uses an infrared sensor as an example of the ranging sensor, but this application is not limited to this.

[0048] In some implementations, since the ranging sensor is calibrated using the distance between the first boundary and the ranging sensor, the sensor data collected by the ranging sensor from the target object can express the distance between the second boundary of the target object and the first boundary of the target area.

[0049] S13: Using at least two sensor data corresponding to each first boundary, obtain the offset of the second boundary of the target object relative to the first boundary.

[0050] By utilizing the physical relationships (such as physical geometric relationships, visual relationships, etc.) between the at least two sensor data corresponding to each first boundary, the first boundary of the target area, and the second boundary of the target object, the offset of the second boundary of the target object relative to the first boundary can be obtained.

[0051] In some embodiments, please refer to Figure 6 This embodiment can be further extended to step S13 of the above embodiment. Using at least two sensor data corresponding to each first boundary, the offset of the second boundary of the target object relative to the first boundary is obtained. This embodiment may include at least one of the following steps:

[0052] S131: Using sensor data from at least two ranging sensors on the same first boundary and the boundary spacing, obtain the positional offset of the second boundary of the target object relative to the first boundary, wherein the boundary spacing is the distance between the at least two ranging sensors on the first boundary and the first boundary.

[0053] The positional offset of the second boundary of the target object relative to the first boundary can be obtained by using the distance difference between the sensor data of at least two ranging sensors on the same first boundary.

[0054] In some implementations, the offset includes at least one of angular offset and position offset.

[0055] The positional offset of the second boundary of the target object relative to the first boundary can be obtained by using sensor data and boundary spacing from at least two ranging sensors on the same first boundary.

[0056] In some implementations, the boundary spacing is the distance between at least two ranging sensors of the first boundary and the first boundary.

[0057] In some implementations, there can be multiple boundary spacings. For example, the distances between at least two ranging sensors on the first boundary and the first boundary can be used as the boundary spacings corresponding to the ranging sensors.

[0058] In some implementations, the boundary spacing can be the distance between the midpoint of the line connecting at least two ranging sensors and the first boundary of the target area.

[0059] In some implementations, the boundary spacing can be the distance between a location point (such as one or more location points) on the line connecting at least two ranging sensors and the first boundary.

[0060] Please see Figure 7Taking the position offset corresponding to the first direction as an example, the boundary distance Base can be the distance between the midpoint of the line connecting the two ranging sensors (Sen1 and Sen2) and the first boundary of the target area. The position offset between the current target object and the ideal position (first boundary) of the target area is obtained by calculating the difference between the average value of the sensor data collected by the two ranging sensors and the boundary distance Base. The position offset Dis can be obtained using the following formula:

[0061] Dis = (Front1+Front2) / 2-Base formula (1)

[0062] Among them, Front1 and Front2 are sensor data collected by two ranging sensors on the first boundary from the target object.

[0063] It is understandable that the position offsets for other directions (such as the second direction) can be obtained in the same way as the position offsets for the first direction described above.

[0064] In some implementations, please refer to Figure 8 In actual implementation, since the mounting planes of the ranging sensors are difficult to be completely consistent, the distance from each ranging sensor to the target area (such as the first boundary) can be obtained as the boundary distance. In other words, the reference distance Base1 (boundary distance) from ranging sensor sen1 to the target area and the reference distance Base2 (boundary distance) from ranging sensor sen2 to the target area (such as the first boundary) can be obtained.

[0065] By acquiring the differences between sensor data from multiple ranging sensors and their corresponding boundary distances, and averaging these differences, the positional offset of the second boundary of the target object relative to the first boundary of the target area is obtained. The positional offset Dis can be calculated using the following formula:

[0066] Dis = ((Front1-Base1) + (Front2-base2)) / 2 Formula (2)

[0067] Among them, Front1 and Front2 are the sensor data collected by the ranging sensors sen1 and sen2 at the first boundary from the target object.

[0068] S132: Using the distance difference and measurement spacing between the sensor data of at least two ranging sensors on the same first boundary, the angular offset of the second boundary of the target object relative to the first boundary is obtained, and the measurement spacing is the spacing between at least two ranging sensors on the same first boundary.

[0069] The distance difference between sensor data from at least two ranging sensors on the same first boundary can be obtained. For example, if the sensor data collected by two ranging sensors in the first direction are Front1 and Front2, the difference between Front1 and Front2 (i.e., the distance difference) can be used to obtain the distance difference corresponding to the first direction (e.g., the X direction). Similarly, if the sensor data collected by two ranging sensors in the second direction are Side1 and Side2, the distance difference between Side1 and Side2 can be used to obtain the distance difference corresponding to the second direction (e.g., the Y direction).

[0070] In some implementations, the measurement distance between at least two ranging sensors at the first boundary in the first direction can be expressed as the first measurement distance FrontDis. Using the distance difference corresponding to the first boundary in the first direction and the measurement distance, the angular offset of the second boundary of the target object relative to the first boundary can be obtained. For example, the angular offset θ1 corresponding to the first direction can be calculated using the following formula:

[0071]

[0072] In some implementations, the measurement distance between at least two ranging sensors at the first boundary in the second direction can be expressed as the second measurement distance SideDis. Using the distance difference corresponding to the first boundary in the second direction and the measurement distance, the angular offset of the second boundary of the target object relative to the first boundary can be obtained. This angular offset θ2 corresponding to the second direction can be calculated using the following formula:

[0073]

[0074] In some implementations, the above method can be used to obtain multiple offsets of the second boundary in the same direction relative to the first boundary, and / or multiple offsets of the second boundary in different directions relative to the first boundary.

[0075] S14: Adjust the orientation of the target object by using the offset of the second boundary relative to the first boundary.

[0076] Offset includes at least one of angular offset and positional offset, which can represent the relative deviation of the target object's angle or center point position. The absolute deviation of the target object can be obtained using the angular offset and positional offset, and path calculation and execution can be performed to eliminate the absolute deviation in order to adjust the target object's position and angle.

[0077] In some implementations, if the position offset Dis > 0, the target needs to be moved |Dis| towards the ranging sensor. If the position offset Dis < 0, the target needs to be moved |Dis| away from the ranging sensor. It is understood that the position offset can be eliminated by subtracting the target's current position from the position offset.

[0078] Similarly, after obtaining the angle offset, the target object needs to be moved in the opposite direction of the angle offset by the absolute value of the angle offset to eliminate the angle offset.

[0079] For example, if the calculated angular offset of the target object is +15 degrees, then adjust the target object to -15 degrees. For example, if the position offset of the target object is -5 centimeters, then adjust the target object to +5 centimeters.

[0080] In some implementations, multiple directions and / or the same direction may correspond to multiple offsets of the second boundary relative to the first boundary, and the attitude of the target object can be adjusted comprehensively based on the multiple offsets of the second boundary relative to the first boundary.

[0081] In some embodiments, please refer to Figure 9 Step S14 of the above embodiment can be further extended. By utilizing the offset of the second boundary relative to the first boundary to adjust the attitude of the target object, this embodiment may include the following steps:

[0082] S141: Determine the target offset of the target object by using the offset of the second boundary relative to the first boundary.

[0083] The offset of the target object can be determined by combining the offsets of multiple second boundaries relative to the first boundary.

[0084] In some implementations, the offset can be an angular offset. These multiple angular offsets are theoretically consistent, but in practice it is difficult to guarantee that they are completely consistent. The offset of the target object can be determined by combining multiple angular offsets, thereby improving the accuracy of determining the offset of the target object.

[0085] In some implementations, the offsets of multiple second boundaries relative to the first boundary can be preset to obtain preset statistical values, and these preset statistical values ​​can be used as target offsets. The preset statistical values ​​are at least one of the maximum value, the average value, and the offset corresponding to the first boundary with the largest measurement interval.

[0086] The offset corresponding to the first boundary with the largest measurement distance is determined as the target offset. Since the distance between at least two ranging sensors that calculate the offset is relatively large, the calculated offset is more accurate. Using the angle deviation of the target object calculated by the first boundary edge with the larger distance as the offset of the current object's angle can be more accurate.

[0087] Using the offset of the maximum value as the target offset allows for adjustments to the target object based on this larger offset, thereby improving the accuracy of positional adjustments for deviations.

[0088] Using the average value of the offset as the angular offset of the current target object can reduce the measurement error of the ranging sensor and improve the accuracy of the acquired offset.

[0089] In some implementations, the target offset includes at least one of the target angle offset and the target position offset, and the target angle offset and the target position offset of the target object can be determined in the manner described above.

[0090] S142: Determine whether the target offset meets the offset range requirements.

[0091] The offset range requirement includes at least one of the following: the target angle offset is less than the angle offset threshold, and the target position offset is less than the position offset threshold.

[0092] If it is determined that the target offset does not meet the offset range requirements, such as the target angle offset being not less than the angle offset threshold or the target position offset being not less than the position offset threshold, then the following step S143 is executed.

[0093] If the target offset is determined to meet the offset range requirements, such as if the target angle offset is less than the angle offset threshold or the target position offset is less than the position offset threshold, then the following step S144 is executed.

[0094] S143: In response to the target offset not meeting the offset range requirement, the attitude of the target object is adjusted using the target offset.

[0095] The target offset can be used to obtain the amount of movement between the current position of the target object and the target position in the target area; according to the amount of movement, the target object can be moved from its current position to the target position in the target area.

[0096] In some implementations, the angle of the target object can be adjusted using the target angle offset in response to the target angle offset being not less than the angle offset threshold.

[0097] In some implementations, the position of the target object can be adjusted using the target position offset in response to the target position offset being not less than a position offset threshold.

[0098] In some implementations, the angle and position of the target object can be adjusted using the target angle offset and the target position offset in response to the target angle offset being not less than an angle offset threshold and the target position offset being not less than a position offset threshold.

[0099] S144: Complete the task of transporting the target object.

[0100] If the target offset is determined to meet the offset range requirements, such as if the target angle offset is less than the angle offset threshold or the target position offset is less than the position offset threshold, then the position of the target object in the target area is determined to meet the handling requirements, and the handling task of the target object is completed.

[0101] In this embodiment, by placing the target object in the target area, the ranging sensor is calibrated based on the distance between the first boundary and the ranging sensor. At least two ranging sensors can be set for the first boundary in different directions to collect multiple sensor data from the target object. The offset of the second boundary of the target object in different directions relative to the first boundary is obtained. Thus, by combining the offset of the second boundary in different directions relative to the first boundary, the posture of the target object is adjusted. The angle and position of the target object can be readjusted for targets with inaccurate placement, thereby improving the positioning accuracy of target object handling. It can also adapt to the handling of various moving devices for various target objects, improving the accuracy of actual arrival at the point of contact for multiple devices.

[0102] In addition, by installing a ranging sensor in the target area, the sole criterion for determining whether the target is in place is the ranging sensor. This makes the actual arrival accuracy of the target more reliable and consistent, and solves the problem of inconsistent actual arrival deviations caused by the inconsistency of multiple vehicles after the nominal arrival is met. It also reduces the requirements of multiple factors affecting accuracy, such as camera error and equipment positioning error. From a system perspective, a set of steps for data collection and use is proposed to form an effective closed loop.

[0103] In some embodiments, to improve the accuracy of the distance measurement of the target object by the distance measuring sensor at the first boundary, after placing the target object in the target area, the moving device can determine whether the placement accuracy of the current position of the target object meets the accuracy requirements. If the accuracy requirements are not met, the target object needs to be placed in the target area again to avoid excessive placement error of the target object in the target area, reduce the situation where the distance measuring sensor cannot measure the distance, and improve the accuracy of the distance measuring sensor in measuring the target object.

[0104] In some embodiments, to improve the accuracy of the distance measurement of the target object by the distance measuring sensor at the first boundary, multiple distance measuring sensors can be set at the first boundary. When one of the distance measuring sensors fails to measure the distance to the target object, at least two other distance measuring sensors can be used to measure the distance to the target object, thereby improving the accuracy of the distance measuring sensor in measuring the target object.

[0105] In some embodiments, to improve the accuracy of the distance measurement of the target object by the distance measuring sensor at the first boundary, the validity of the sensor data collected by the distance measuring sensor can be determined, and the valid sensor data collected by the distance measuring sensor at the first boundary can be used for subsequent offset calculation and other processing to improve the accuracy of the distance measurement of the target object by the distance measuring sensor.

[0106] Please see Figure 10 , Figure 10 This is a flowchart illustrating a second embodiment of the material handling method for the objective of this application. The method may include the following steps:

[0107] S21: Determine whether the data from at least two sensors at the first boundary meet the detection requirements corresponding to the first boundary.

[0108] In some implementations, step S21 of this embodiment can be executed after step S12 above. That is, after placing the target object in the target area, and the target area is provided with at least two ranging sensors at the first boundary in different directions, and after acquiring the sensor data collected by each ranging sensor on the target object, step S21 of this embodiment is executed.

[0109] The aforementioned detection requirements include that the sensor data is within a detection distance threshold range, which is obtained based on the end position of the target object collected by the ranging sensor at the first boundary.

[0110] By determining whether the data from at least two sensors at the first boundary meet the detection requirements corresponding to the first boundary, it can be determined whether the first boundary has collected valid sensor data and whether it accurately measures the distance to the target object. This reduces the possibility that the distance measuring sensor at the first boundary cannot measure the distance to the second boundary of the target object corresponding to the first boundary due to excessive offset of the target object.

[0111] If it is determined that at least two sensor data points of the first boundary meet the detection requirements corresponding to the first boundary, then in response to the fact that at least two sensor data points of the first boundary meet the detection requirements, the following steps S22 and / or S23 are executed.

[0112] If it is determined that at least two sensor data points at the first boundary do not meet the detection requirements corresponding to the first boundary, then in response to the fact that at least two sensor data points at the first boundary do not meet the detection requirements, the following steps S24 and / or S25 are executed.

[0113] After determining whether the data from at least two sensors at the first boundary meet the detection requirements, at least one of the following steps is included:

[0114] S22: Perform the step of obtaining the offset of the second boundary of the target object relative to the first boundary using at least two sensor data corresponding to each first boundary.

[0115] In response to the fact that at least two sensor data of the first boundary meet the detection requirements, the step of obtaining the offset of the second boundary of the target object relative to the first boundary using at least two sensor data corresponding to each first boundary is performed, that is, the above step S13 is performed.

[0116] The specific implementation of step S22 in this embodiment is based on the specific implementation process of step S13 in the above embodiment, and will not be repeated here.

[0117] S23: Use at least two sensor data from the first boundary as valid sensor data, wherein the valid sensor data is used to obtain the offset of the second boundary of the target object relative to the first boundary.

[0118] If at least two sensor data points satisfy the detection requirements of the first boundary, the at least two sensor data points can be used as valid sensor data, which can then be used to subsequently obtain the offset of the second boundary of the target object relative to the first boundary. In other words, the valid sensor data can be used in steps S13 to S14.

[0119] S24: In response to the fact that at least two sensor data at the first boundary do not meet the detection requirements, the at least two sensor data at the first boundary are treated as invalid sensor data.

[0120] If the target object is offset too much, the ranging sensor at the first boundary cannot measure the distance to the second boundary of the target object corresponding to the first boundary. As a result, the data from at least two sensors at the first boundary do not meet the detection requirements. In this case, the data from at least two sensors are considered invalid sensor data. Alternatively, if any sensor data from the first boundary does not meet the detection requirements, the sensor data that does not meet the detection requirements is considered invalid sensor data and will not be used in subsequent steps S13 to S14.

[0121] S25: In response to the fact that the sensor data of at least two of the first boundaries does not meet the detection requirements, the orientation of the target object is adjusted to place the target object within the target area.

[0122] If at least two sensor data points collected from all first boundaries do not meet the detection requirements, then all sensor data collected from each first boundary do not meet the detection requirements and are invalid sensor data. This indicates that the moving device placed the target object within the target area in step S11 too large and needs to place it again. The attitude of the target object needs to be adjusted to place the target object within the target area.

[0123] In this embodiment, the execution order of steps S22 to S25 is not limited. It can be understood that steps S22 to S25 can be executed after step S21, and are not limited to the execution order given above in this embodiment.

[0124] In this embodiment, the above steps can improve the accuracy of the distance measurement sensor at the first boundary for the target object, thereby allowing for a more accurate adjustment of the angle and position of the target object using a more precise offset, thus improving the positioning accuracy of the target object handling.

[0125] In some embodiments, before performing step S11, each ranging sensor installed on the first boundary can be calibrated, wherein the ranging sensor is calibrated using the distance between the first boundary and the ranging sensor as a reference, as can be seen in the specific implementation of the following embodiments.

[0126] Please see Figure 11 , Figure 11 This is a flowchart illustrating a third embodiment of the material handling method for the objective of this application. The method may include the following steps:

[0127] S31: At least two ranging sensors are installed on the first boundary in different directions of the target area, and each ranging sensor has a tolerance distance from the end position of the first boundary.

[0128] Among them, at least two ranging sensors are either parallel or not parallel to the first boundary.

[0129] Please see Figure 12 Two ranging sensors 101 are installed on the first boundary in different directions of the target area 100. The two ranging sensors 101 are parallel to the first boundary, and each ranging sensor 101 has a tolerance distance L at the end position of the first boundary.

[0130] S32: Place a first reference object in the target area. The first reference object is located at the center of the target area. The offset of the second boundary of the first reference object relative to the first boundary of the target area is less than the reference offset.

[0131] Wherein, the first reference object may be an item of the same type as the target object, and / or, the size of the first reference object matches the size of the target area, and / or, the second boundary of the first reference object overlaps with the first boundary of the target area.

[0132] A first reference object can be placed in the target area, with the first reference object located at the center of the target area. The offset of the second boundary of the first reference object relative to the first boundary of the target area is less than the reference offset, resulting in high placement accuracy of the first reference object.

[0133] S33: Use each ranging sensor of each first boundary to measure the distance to the first reference object, and obtain the reference sensor data of each ranging sensor respectively.

[0134] Each ranging sensor on the first boundary can measure the distance to the first reference object, and obtain reference sensor data for each ranging sensor. The reference sensor data can characterize the distance between the ranging sensor and the second boundary of the first reference object, and can also characterize the distance between the ranging sensor and the first boundary of the target area.

[0135] S34: Use the reference sensor data collected by the ranging sensor to calibrate the ranging sensor.

[0136] When calibrating the ranging sensor, the reference sensor data collected by the ranging sensor is calibrated as the zero value of the ranging sensor output, so that the reference sensor data is used as the ranging reference.

[0137] In some implementations, the distance between every two ranging sensors at the first boundary can also be measured as the detection distance between the two ranging sensors.

[0138] In this embodiment, the ranging sensor can be calibrated based on the reference sensor data collected by the ranging sensor and the distance between the ranging sensor and the first boundary or the second boundary. This allows the ranging sensor to characterize the offset of the target object relative to the first boundary when measuring the distance to the target object in subsequent processes.

[0139] Please see Figure 13 , Figure 13 This is a flowchart illustrating the fourth embodiment of the material handling method for the objective of this application. The method may include the following steps:

[0140] S41: Place a second reference object in the target area, the end of the second reference object being located in the ranging direction of at least one ranging sensor on the first boundary.

[0141] Step S41 of this embodiment can be performed after step S41 or step S34 described above.

[0142] The second reference object may be an item of the same type as the target object, and / or the size of the second reference object may match the size of the target area.

[0143] Please see Figure 14 Two ranging sensors 101 are respectively provided on the first boundary of the target area 100 in different directions. A second reference object 102 is placed in the target area 100. The end position 103 of the second reference object 102 is located on the ranging direction 104 of at least one ranging sensor 101 on the first boundary, such that the end position 103 of the second reference object 102 is located on the axis (i.e., the ranging direction 104) of the ranging sensor 101 and the first boundary of the target area 100.

[0144] S42: Use each ranging sensor on the first boundary to measure the distance to the end position of the second reference object to obtain the detection distance threshold range.

[0145] After the end position of the second reference object is located in the ranging direction of at least one ranging sensor on the first boundary, reference distances collected by at least two sensors on the second reference object can be obtained. The minimum reference distance is collected by the ranging direction of the ranging sensor on the first boundary on the end position of the second reference object, and the maximum reference distance is collected by the other ranging sensors on the second boundary of the second reference object, so that the minimum reference distance and the maximum reference distance constitute the detection distance threshold range.

[0146] In this embodiment, when the ranging sensor is located at the head or tail of at least two ranging sensors parallel to the first boundary, the detection distance threshold range corresponding to multiple ranging sensors of the first boundary can be obtained.

[0147] In some implementations, each ranging sensor on the first boundary can be used to measure the distance to the end position of the second reference object, thereby obtaining the detection distance threshold range corresponding to each pair of ranging sensors.

[0148] In this embodiment, by obtaining the detection distance threshold range, it can be used in subsequent processes to determine the effectiveness of the ranging sensor in measuring the distance to the target object.

[0149] In addition to the above embodiments, this application also provides a target transport device. Please refer to [link to relevant documentation]. Figure 15 , Figure 15 This is a schematic diagram of an embodiment of the conveying device for the present application.

[0150] The target handling device 50 includes a handling module 51, a detection module 52, a deviation module 53, and an adjustment module 54.

[0151] The transport module 51 is used to place the target object in the target area. The target area is provided with at least two ranging sensors on the first boundary in different directions. The ranging sensors are calibrated based on the distance between the first boundary and the ranging sensor.

[0152] The detection module 52 is used to acquire sensor data collected by each ranging sensor from the target object.

[0153] The deviation module 53 is used to obtain the offset of the second boundary of the target object relative to the first boundary using at least two sensor data corresponding to each first boundary.

[0154] The adjustment module 54 is used to adjust the attitude of the target object by using the offset of the second boundary relative to the first boundary.

[0155] The specific implementation of this embodiment can be referred to the implementation process of the above embodiments, and will not be repeated here.

[0156] Regarding the above embodiments, this application provides a computer device; please refer to [link / reference]. Figure 16 , Figure 16 This is a schematic diagram of the structure of a computer device according to an embodiment of the present application. The computer device 60 includes a memory 61 and a processor 62, wherein the memory 61 and the processor 62 are coupled to each other. The memory 61 stores program data, and the processor 62 is used to execute the program data to achieve the steps of any embodiment of the transport method of the above-mentioned objective.

[0157] In this embodiment, processor 62 can also be referred to as a CPU (Central Processing Unit). Processor 62 may be an integrated circuit chip with signal processing capabilities. Processor 62 can also be a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component. The general-purpose processor can be a microprocessor, or processor 62 can be any conventional processor.

[0158] The methods described in the above embodiments can be implemented as computer programs; therefore, this application proposes a computer-readable storage medium. Please refer to [link to relevant documentation]. Figure 17 , Figure 17 This is a schematic diagram of a computer-readable storage medium according to an embodiment of the present application. The computer-readable storage medium 70 stores program data 71 that can be executed by a processor. The program data 71 can be executed by the processor to achieve the steps of any embodiment of the transport method for the above-described objectives.

[0159] In this embodiment, the computer-readable storage medium 70 can be a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, or a medium that can store program data 71. Alternatively, it can be a server that stores the program data 71. The server can send the stored program data 71 to other devices for execution, or it can run the stored program data 71 itself.

[0160] In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus can be implemented in other ways. For example, the apparatus implementations described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0161] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0162] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0163] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application.

[0164] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, and thus stored in a computer-readable storage medium for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Therefore, this application is not limited to any particular hardware and software combination.

[0165] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for transporting a target, characterized in that, The method includes: The target object is placed in the target area, and the target area is provided with at least two ranging sensors on the first boundary in different directions. The ranging sensors are calibrated based on the distance between the first boundary and the ranging sensor. Acquire sensor data collected by each of the ranging sensors from the target object; Determine whether the data from at least two sensors at the first boundary meet the detection requirements corresponding to the first boundary; wherein, the detection requirements include that the sensor data are within a detection distance threshold range, and the detection distance threshold range is obtained based on the end position of the target object collected by the ranging sensor at the first boundary; In response to at least two sensor data points of the first boundary satisfying the detection requirement, the offset of the second boundary of the target object relative to the first boundary is obtained using at least two sensor data points corresponding to each first boundary. The orientation of the target object is adjusted by using the offset of the second boundary relative to the first boundary.

2. The method according to claim 1, characterized in that, The offset includes at least one of angular offset and position offset; The step of obtaining the offset of the second boundary of the target object relative to the first boundary using at least two sensor data corresponding to each first boundary includes at least one of the following steps: Using the sensor data and boundary spacing of at least two ranging sensors on the same first boundary, the positional offset of the second boundary of the target object relative to the first boundary is obtained, wherein the boundary spacing is the distance between at least two ranging sensors on the first boundary and the first boundary. Using the distance difference and measurement spacing between the sensor data of at least two ranging sensors on the same first boundary, the angular offset of the second boundary of the target object relative to the first boundary is obtained, wherein the measurement spacing is the distance between at least two ranging sensors on the same first boundary.

3. The method according to claim 1, characterized in that, The step of adjusting the pose of the target object using the offset of the second boundary relative to the first boundary includes: The target offset of the target object is determined by using the offset of the second boundary relative to the first boundary; Determine whether the target offset meets the offset range requirements; In response to the target offset not meeting the offset range requirement, the attitude of the target object is adjusted using the target offset; The target offset includes at least one of target angle offset and target position offset, and the offset range requires that the target angle offset is less than at least one of the target position offset and the target position offset is less than at least one of the target position offset threshold.

4. The method according to claim 3, characterized in that, Determining the target offset of the target object using the offset of the second boundary relative to the first boundary includes: The offsets of multiple second boundaries relative to the first boundary are pre-processed to obtain pre-defined statistical values, and the pre-defined statistical values ​​are used as the target offsets. The preset statistical value is at least one of the maximum value, the average value, and the offset corresponding to the first boundary with the largest measurement spacing.

5. The method according to claim 3, characterized in that, The step of adjusting the attitude of the target object using the target offset in response to the target offset not meeting the offset range requirement includes: Using the target offset, the amount of movement between the current position of the target object and the target position in the target area is obtained; According to the stated movement amount, the target object is moved from its current position to the target position within the target area.

6. The method according to claim 1, characterized in that, After determining whether the data from at least two sensors at the first boundary meet the detection requirements, the process includes at least one of the following steps: In response to the fact that at least two sensor data points at the first boundary do not meet the detection requirements, the at least two sensor data points at the first boundary are treated as invalid sensor data. In response to at least two sensor data points of the first boundary satisfying the detection requirement, at least two sensor data points of the first boundary are taken as valid sensor data, wherein the valid sensor data is used to obtain the offset of the second boundary of the target object relative to the first boundary; In response to at least two sensor data points at all first boundaries failing to meet the detection requirements, the orientation of the target object is adjusted to place the target object within the target area.

7. The method according to claim 1, characterized in that, The step of placing the target object in the target area includes: At least two ranging sensors are installed on the first boundary in different directions of the target area, and each ranging sensor has a tolerance distance from the end position of the first boundary. A first reference object is placed in the target area, the first reference object is located at the center of the target area, and the second boundary of the first reference object is offset from the first boundary of the target area by a smaller offset than the reference offset. The distance to the first reference object is measured by each distance sensor of each first boundary, and the reference sensor data of each distance sensor is obtained respectively. The ranging sensor is calibrated using reference sensor data acquired by the ranging sensor; and / or, A second reference object is placed in the target area, the end of the second reference object being located in the ranging direction of at least one ranging sensor on the first boundary; By using each ranging sensor on the first boundary to measure the distance to the end position of the second reference object, the detection distance threshold range is obtained.

8. A computer device, characterized in that, The method includes a memory and a processor coupled to each other, the memory storing program data and the processor executing the program data to implement the steps of the method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The system stores program data that can be executed by a processor, the program data being used to implement the steps of the method according to any one of claims 1 to 7.

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