Method of handling, handling vehicle and storage medium

Abstract

The application relates to a carrying method, a carrying vehicle and a storage medium, and belongs to the technical field of intelligent carrying. The carrying method is applied to a carrying vehicle, and the method comprises the following steps: receiving a carrying task triggered by a target container, executing the carrying task, and going to a first position associated with a current position of the target container, wherein the carrying task carries information of the first position associated with the current position of the target container; after arriving at the first position, connecting with the target container, and carrying the target container to a preset position. In the application, the target container and the carrying vehicle can be separated or connected, the target container is independently arranged in an application scene, a carrying task is triggered from the side end of the target container, a carrying vehicle is remotely dispatched to carry, and the carrying vehicle uniformly processes various carrying task requirements, the carrying vehicle can timely respond to the carrying task, and the carrying or distribution efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent handling technology, and in particular to a handling method, a handling vehicle, and a computer-readable storage medium. Background Technology

[0002] Transport vehicles, such as transport robots or transport robot chassis, have autonomous positioning and navigation capabilities. Currently, transport vehicles are often equipped with fixed containers for delivering or moving items.

[0003] However, the fixed installation of containers on the transport vehicle body can easily lead to low handling or delivery efficiency, which is not conducive to the effective utilization of intelligent handling resources. Summary of the Invention

[0004] This invention provides a handling method, a handling vehicle, and a storage medium to solve the technical problem of low handling or delivery efficiency caused by existing handling methods.

[0005] In a first aspect, the present invention provides a handling method applied to a handling vehicle, the method comprising:

[0006] Receive a transport task triggered by a target container, execute the transport task, and go to a first location associated with the current location of the target container, wherein the transport task carries information about the first location associated with the current location of the target container;

[0007] After reaching the first location, it connects to the target container and transports the target container to a preset location.

[0008] In other embodiments, the step of receiving a transport task triggered by a target container includes:

[0009] The system receives a transport task triggered based on the target container, wherein the transport task is triggered and sent to the transport vehicle when the target container is filled to a preset capacity, or the transport task is sent to the transport vehicle when the target container is triggered by the user.

[0010] In other embodiments, the steps of receiving a transport task triggered by a target container and executing the transport task include:

[0011] Receive multiple transport tasks triggered by the multiple target containers respectively, and store the multiple transport tasks into a task list;

[0012] According to preset rules, the multiple transport tasks in the task list are executed one by one.

[0013] In other embodiments, the steps of executing the plurality of transport tasks in the task list one by one according to preset rules include:

[0014] Obtain the region to which the first location associated with the current location of the multiple target containers belongs and the filling speed of the multiple target containers;

[0015] Based on the region to which the first location belongs and the speed at which the target container is filled, the execution order is determined among the plurality of handling tasks, and the plurality of handling tasks in the task list are executed respectively according to the execution order.

[0016] In other embodiments, determining the execution order among the plurality of handling tasks based on the region to which the first location belongs and the filling speed of the target container, and executing the plurality of handling tasks in the task list according to the execution order, includes:

[0017] For each of the transport tasks, a first priority is determined based on the region to which the first location associated with the current location of the target container that triggered the transport task belongs, and a second priority is determined based on the loading speed of the target container.

[0018] Based on the first priority and the second priority, a third priority corresponding to the transportation task is determined;

[0019] The execution order is determined according to the third priority corresponding to each of the multiple handling tasks, and the multiple handling tasks in the task list are executed according to the execution order.

[0020] In other embodiments, the step of traveling to a first location associated with the current location of the target container includes:

[0021] A path is planned based on the current position of the transport vehicle, the preset position, and the first position associated with the current position of the target container;

[0022] According to the planned output path, proceed to the preset location, carry the empty container at the preset location, and then proceed to the first location;

[0023] After reaching a second position at a preset distance from the first position, the idle container is unloaded and placed at the second position;

[0024] Proceed to the first location.

[0025] In other embodiments, the top of the transport vehicle is provided with a liftable support member, the top of which is a convex or concave conical surface, and the bottom of the target container is an adapting surface that matches the top of the support member; or, the top of the support member is a support beam with an arched surface, and the bottom of the target container is an adapting surface that matches the top of the support member.

[0026] The step of connecting to the target container after reaching the first location includes:

[0027] After reaching the first position, it enters the bottom of the target container and drives the support to move upward relative to the transport vehicle to perform a preset lifting action;

[0028] When the top of the support member and the bottom of the target container are not tightly fitted together, the support member is driven to move downward relative to the transport vehicle to perform a reset action.

[0029] Repeat the steps of driving the support member to move upward relative to the transport vehicle to perform a preset lifting action and subsequent steps until the top of the support member is tightly fitted to the bottom of the target container.

[0030] In other embodiments, prior to the step of connecting to the target container, the method further includes:

[0031] Based on the identifier of the target container, query the status information of the target container;

[0032] Based on the state information of the target container, determine the first position associated with the current location of the target container, the attitude of the target container, and the connection attributes;

[0033] Based on the first position, the orientation of the target container, and the connection attributes, the method of connection with the target container is determined, wherein the method of connection with the target container includes lifting the target container and placing it on top of the transport vehicle, or attaching the target container to the side of the transport vehicle.

[0034] In a second aspect, embodiments of the present invention provide a handling device applied to a handling vehicle, the device comprising:

[0035] A receiving module is used to receive a transport task triggered by a target container, execute the transport task, and go to a first location associated with the current location of the target container, wherein the transport task carries information about the first location associated with the current location of the target container;

[0036] The transport module is used to connect with the target container after arriving at the first position and transport the target container to a preset position.

[0037] In a third aspect, embodiments of the present invention provide a transport vehicle, the transport vehicle comprising:

[0038] At least one processor; and

[0039] A memory that is communicatively connected to the at least one processor;

[0040] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the steps of the transport method as described in the first aspect above.

[0041] In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the transport method described in the first aspect above.

[0042] In a fifth aspect, embodiments of the present invention provide a computer program product that, when run on a transport vehicle, causes the transport vehicle to perform the steps of the transport method described in the first aspect.

[0043] Unlike related technologies, in this invention, a handling task triggered by a target container is received, the handling task is executed, and the container travels to a first location associated with its current location. The handling task carries information about the first location associated with the target container's current location. Upon arrival at the first location, the container connects to the target container and moves it to a preset location. In this invention, the target container and the handling vehicle can be separate or connected. The target container is deployed independently in the application scenario. The handling task is triggered by the target container, remotely dispatching the handling vehicle to handle the task. The handling vehicle handles all handling task requests in a unified manner, enabling timely response and processing of handling tasks, thereby improving handling or delivery efficiency. Attached Figure Description

[0044] One or more embodiments are illustrated by way of example based on the corresponding drawings. These illustrative descriptions do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute a limitation on scale.

[0045] Figure 1a This is a schematic diagram of an application scenario provided by an embodiment of the present invention;

[0046] Figure 1b This is a schematic diagram of an application scenario provided by another embodiment of the present invention;

[0047] Figure 2 This is a schematic flowchart of a handling method provided in an embodiment of the present invention;

[0048] Figure 3 This is a functional block diagram of a conveying device provided in an embodiment of the present invention;

[0049] Figure 4This is a schematic diagram of the hardware structure of a transport vehicle provided in an embodiment of the present invention. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0051] It should be noted that, unless otherwise specified, the various features in the embodiments of the present invention can be combined with each other, and all are within the protection scope of the present invention. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different module division or in a different order than that shown in the device schematic diagram or the flowchart.

[0052] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0053] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0054] Please see Figures 1a-1b In one application scenario of this invention, the transport vehicle 10 is an intelligent device with autonomous positioning and navigation, such as a transport robot or a transport robot chassis, etc. This invention does not limit the shape and function of the transport vehicle 10. Optionally, the top of the transport vehicle 10 is provided with a liftable and movable support member 11. The top of the support member 11 is a convex or concave conical surface. Figure 1a As shown, the top of the support member 11 is a protruding conical surface. The bottom of the target container 20 is a mating surface 21 that adapts to the top of the support member 11. Alternatively, the top of the support member 11 is a support beam with an arched surface. Figure 1b As shown, the top of the support member 11 is a support beam with an arched surface, and the bottom of the target container 20 is an adapter surface 21 that matches the top of the support member 11.

[0055] In one method of use, after the transport vehicle 10 enters the bottom of the target container 20, it moves upward by driving the support member 11 and lifts the target container 20 off the ground. The transport vehicle 10 then uses self-positioning navigation to move the target container 20 to a preset location, such as a warehouse or processing station. Upon reaching the preset location, the support member 11 moves downward, lowering the target container 20 and bringing the support feet to the ground to secure it. At this point, the transport vehicle 10 detaches from the target container 20 and can self-position and navigate to a stopping point, thus completing the entire transport process.

[0056] Please see Figure 2 , Figure 2 This is a schematic flowchart of a handling method provided in an embodiment of the present invention. Based on Figures 1a-1b The illustrated transport vehicle 10 provides a detailed description of an embodiment of the present invention. In a first aspect, the present invention provides a transport method applied to a transport vehicle, wherein the transport vehicle is the executing entity of the transport method, specifically, the processor of the transport vehicle is the executing entity. The transport method of the present invention includes the following steps S21-S22:

[0057] Step S21: Receive the transport task triggered by the target container, execute the transport task, and go to the first location associated with the current location of the target container.

[0058] A target container refers to a container used to hold items, including but not limited to file boxes, trash cans, cargo boxes, and cargo frames. A handling task refers to the remote dispatch of a handling vehicle to move the target container to a designated location. The handling task carries information about a first location associated with the current location of the target container. For example, the first location information refers to the coordinates of the first location on the handling vehicle's navigation map. The first location refers to a location near the current location of the target container. For example, the first location is a position at a preset distance from the current location of the target container, or a position within a preset distance range from the current location of the target container. The preset distance can be determined according to the actual situation, such as 0.5 meters. It can be understood that the target container and the handling vehicle are separate. The handling vehicle can assemble the target container to move it to a designated or preset location; similarly, the handling vehicle can also be separated from the target container.

[0059] The target container is an intelligent electronic device that can determine whether to trigger a handling task by detecting its own filled capacity, or the user can trigger the handling task by pressing a physical button, thereby remotely dispatching a handling vehicle to move the target container to a designated or preset location.

[0060] In this embodiment, if the target container triggers a transport task, the transport task is sent to the transport vehicle. When the transport vehicle receives the transport task, it executes the transport task. Specifically, the transport task is parsed to obtain information about the current location of the target container and a first location, and the container moves to the first location based on the information about the first location.

[0061] Step S22: After reaching the first position, connect with the target container and transport the target container to the preset position.

[0062] Connecting to the target container refers to docking the transport vehicle with the target container so that the target container can be moved to a preset location, such as a warehouse or processing station, based on the transport vehicle.

[0063] In this embodiment, after the transport vehicle arrives at the first location, it locates and connects to the target container. After docking, the transport vehicle moves the target container to a preset location using a self-positioning navigation function. Optionally, the transport task also carries information about the preset location. By parsing the transport task, the coordinates of the preset location on the navigation map are obtained, thereby determining the preset location to which the target container needs to be moved. Alternatively, the preset location is a designated fixed location. After receiving the transport task, the transport vehicle moves the target container corresponding to the transport task to the fixed location.

[0064] In this invention, the target container and the transport vehicle can be separated or connected together. The target container is deployed separately in the application scenario. The transport task is triggered by the target container, thereby remotely dispatching the transport vehicle to transport the goods. The transport vehicle handles all transport task requirements in a unified manner, and can respond to and process transport tasks in a timely manner, thereby improving transport or delivery efficiency.

[0065] In other embodiments, the step of receiving a transport task triggered by the target container in step S21 includes: receiving a transport task triggered based on the target container, wherein the transport task is triggered and sent to the transport vehicle when the target container is filled to a preset capacity, or the transport task is sent to the transport vehicle when the target container is triggered by the user.

[0066] Specifically, the target container is an intelligent electronic device that communicates with the transport vehicle via wireless communication, including but not limited to Bluetooth and Wi-Fi. Furthermore, the target container is equipped with sensors to monitor its filling level, including but not limited to infrared sensors or image sensors. For example, the target container may be a cargo box containing infrared or image sensors. When the cargo volume reaches a preset capacity—for example, 80% or full—a signal is triggered to initiate a transport task. Understandably, image recognition and scale lines within the box can also be used to identify the filling level. In other cases, a touch button is provided in the target container. When the user sees the container is full or has reached a preset capacity, they can press the button to trigger the transport task. The preset capacity can be determined based on actual conditions and is not limited in this invention. After triggering the transport task at the target container end, the target container generates transport task information and sends it to the transport vehicle. The transport vehicle can receive transport tasks triggered by the target container.

[0067] In other embodiments, the step of receiving the handling task triggered by the target container and executing the handling task in step S21 includes steps S211-S212:

[0068] Step S211: Receive multiple transport tasks triggered by the multiple target containers respectively, and store the multiple transport tasks into a task list.

[0069] Step S212: According to preset rules, execute the multiple transport tasks in the task list one by one.

[0070] A task list is used to store information about one or more transport tasks. In one embodiment, the application scenario is divided into multiple areas, and one or more containers are placed in each area. Containers in multiple areas can trigger transport tasks independently. Thus, the transport vehicle can receive multiple transport tasks triggered by multiple target containers in multiple areas and store these multiple transport tasks in the task list. That is, the transport vehicle can receive multiple transport tasks simultaneously and make an optimal scheduling plan based on these multiple transport tasks. Optionally, multiple transport tasks in the task list are executed one by one according to preset rules. The preset rules are pre-set rules, such as executing multiple transport tasks one by one in order of priority from high to low, or executing multiple transport tasks one by one in the time order of the first transport task received, or executing multiple transport tasks one by one in order of distance from the first position corresponding to each transport task to the current position of the transport vehicle, from near to far.

[0071] In some embodiments, step S212 involves executing the plurality of transport tasks in the task list one by one according to preset rules, including steps S2121-S2122:

[0072] Step S2121: Obtain the region to which the first location associated with the current location of the multiple target containers belongs and the filling speed of the multiple target containers.

[0073] Step S2122: Determine the execution order among the plurality of handling tasks according to the region to which the first location belongs and the speed at which the target container is filled, and execute the plurality of handling tasks in the task list according to the execution order.

[0074] For example, the application scenario can be divided into multiple areas, with one or more containers placed in each area. For instance, in an office building, the building could be divided into office areas, meeting areas, a public lobby area, a tea room, and restrooms. Each of these areas could have one or more containers, such as trash cans. In other words, when a target container triggers a corresponding handling task, the system can obtain the region associated with the target container's current location and the loading speed of the target container. Understandably, the container's local storage records information about the region to which the first location associated with the container's current location belongs, as well as the container's filling speed information. The region can be labeled with a region code, and the container's filling speed can be determined based on historical usage data. For example, if the region code of the office area is A, and container a1 is placed in office area A, and the coordinates of the first location associated with container a1's current location are (x, y), and container a1 is filled at a rate of one bucket every half day, then when container a1 is placed in office area A, the region code of the region to which container a1 belongs is A.

[0075] The transport vehicle communicates with container a1 to obtain the region code and filling speed of the area to which container a1 belongs, as recorded in container a1's local memory. Understandably, the container's filling speed can be recorded via text information or digital quantification. Based on the region of the first location and the filling speed of the target container, the transport vehicle determines the execution order among multiple transport tasks and executes multiple transport tasks in the task list according to the execution order. For example, the transport vehicle prioritizes the transport task triggered by the target container in a specific region based on the region of the first location; or, the transport vehicle prioritizes the transport task triggered by the target container with the fastest filling speed based on the target container's filling speed.

[0076] Specifically, step S2122 involves determining the execution order among the plurality of handling tasks based on the region to which the first location belongs and the filling speed of the target container, and then executing the plurality of handling tasks in the task list according to the execution order, including the following steps:

[0077] For each of the transport tasks, a first priority is determined based on the region to which the first location associated with the current location of the target container that triggered the transport task belongs, and a second priority is determined based on the loading speed of the target container.

[0078] Based on the first priority and the second priority, a third priority corresponding to the transportation task is determined;

[0079] The execution order is determined according to the third priority corresponding to each of the multiple handling tasks, and the multiple handling tasks in the task list are executed according to the execution order.

[0080] For each handling task, a priority is assigned. Multiple handling tasks are executed sequentially according to their priority, from highest to lowest. The first priority is determined by the region associated with the current location of the target container triggering the task, and the second priority is determined by the filling speed of the target container. For example, in an office building divided into areas such as offices, meeting rooms, a lobby, a tea room, and restrooms, one or more containers (e.g., trash cans) are placed in each area. The first priority score for the office area is 9, for the meeting area it's 8, for the lobby it's 7, for the tea room it's 6, and for the restrooms it's 5. When the target container is filled at a rate of one barrel every 6 hours, the second priority score for the target container triggering the transport task is 10; when the target container is filled at a rate of one barrel every 12 hours, the second priority score is 8; and when the target container is filled at a rate of one barrel every 24 hours, the second priority score is 5. If the target container triggering the transport task is located in the conference area and is filled at a rate of one barrel every 6 hours, then the first priority score for the transport task is 8, and the second priority score is 10. Similarly, each transport task can be assigned a first priority and a second priority, and a third priority score can be determined based on the scores of the first and second priorities. Optionally, the third priority score is the sum of the scores of the first and second priorities. Furthermore, the third priority score can be obtained by multiplying the scores of the first and second priorities by weighting coefficients and then summing them.

[0081] The transport vehicle determines the execution order based on the third priority score corresponding to each of the multiple transport tasks. The execution order is determined by the third priority score from high to low, and the multiple transport tasks in the task list are executed according to the execution order.

[0082] In some embodiments, the step of going to the first location associated with the current location of the target container in step S21 includes the following steps:

[0083] A path is planned based on the current position of the transport vehicle, the preset position, and the first position associated with the current position of the target container;

[0084] According to the planned output path, proceed to the preset location, carry the empty container at the preset location, and then proceed to the first location;

[0085] After reaching a second position at a preset distance from the first position, the idle container is unloaded and placed at the second position;

[0086] Proceed to the first location.

[0087] The transport vehicle can be a mobile service robot or a mobile service robot chassis, equipped with autonomous positioning and navigation capabilities, including but not limited to positioning and navigation based on SLAM algorithms, inertial navigation systems, GPS systems, and BeiDou systems. In one embodiment, the transport vehicle pre-builds and stores a map corresponding to the application scenario, and implements path rules and navigation based on the map. The transport vehicle plans a path based on its current position, a preset position, and a first position; that is, the planned target path passes through the preset position and the first position. The preset position can be marked on the map by technicians. Optionally, the preset position is a location such as a processing station or warehouse, and an idle container is placed at the preset position. The transport vehicle travels to the preset position according to the target path and carries the idle container there; that is, the transport vehicle moves the idle container to the vicinity of the first position. In other words, after the transport vehicle reaches a second position at a preset distance from the first position (the preset distance is not limited to, but includes, 1 meter), it unloads the idle container at the second position. After placing the idle container at the second position, the transport vehicle proceeds to the first position.

[0088] In this invention, before the transport vehicle moves the target container near the first position, it must go to a preset position to retrieve an empty container and place the empty container in a second position near the first position. Then, the target container is moved away. This allows the transport vehicle to replace the target container with an empty container, thus ensuring that there is always a usable container near the first position for holding goods.

[0089] In other embodiments, such as Figure 1a As shown, the top of the transport vehicle 10 is equipped with a liftable and movable support member 11. The top of the support member 11 is a convex or concave conical surface, and the bottom of the target container 20 is an adapter surface 21 that matches the top of the support member 11. Figure 1b The top of the support member 11 shown is a protruding conical surface. Or, as... Figure 1b As shown, the top of the support member 11 is a support beam with an arched surface, and the bottom of the target container 20 is an adapter surface 21 that is adapted to the top of the support member 11.

[0090] The step of connecting to the target container after reaching the first position in step S22 includes steps S221-S223:

[0091] Step S221: After reaching the first position, enter the bottom of the target container and drive the support to move upward relative to the transport vehicle to perform a preset lifting action;

[0092] Step S222: When the top of the support member and the bottom of the target container are not tightly fitted together, the support member is driven to move downward relative to the transport vehicle to perform a reset action.

[0093] Step S223: Repeat the step of driving the support member to move upward relative to the transport vehicle to perform a preset lifting action and subsequent steps until the top of the support member is tightly fitted to the bottom of the target container.

[0094] After the transport vehicle reaches the first position associated with the current location of the target container, it enters the bottom of the target container and drives the support member to move upward relative to the transport vehicle to perform a preset lifting action. That is, with the target container placed on the ground by the support legs, the transport vehicle can enter the bottom of the target container by moving sideways. After reaching the bottom of the target container, it drives the support member to lift the target container off the ground, allowing the transport vehicle to freely move the target container. The transport vehicle can perform multiple preset lifting actions at the bottom of the target container to ensure that the top of the support member is tightly fitted to the bottom of the target container. The preset lifting action can be driving the support member upward a preset distance at a preset speed. The specific data for the preset speed and preset distance can be set by those skilled in the art, and this invention is not limited thereto.

[0095] The reset action refers to the drive support moving downward relative to the transport vehicle to return the support to its initial position.

[0096] Understandably, when the transport vehicle connects to the target container by lifting the target container and placing it on top of the transport vehicle, the transport vehicle needs to access the bottom of the target container. The transport vehicle can first reach a first position near the target container and then enter the bottom of the target container through the first position. Optionally, the first position is a position at a preset distance from the current position of the target container, and the first position is a position that the transport vehicle can reach, and the first position corresponds to the entry point for entering the bottom of the target container.

[0097] In this invention, the movement of the transport vehicle may have a certain positional deviation, and it is not necessary to achieve a very precise degree. By performing multiple preset lifting actions at the bottom of the target container, the top of the support member and the bottom of the target container are guided to move each other, thereby fine-tuning the position and attitude of the target container relative to the transport vehicle. This enables the transport vehicle and the target container to achieve a stable docking connection, and keeps the target container relatively fixed on the top of the transport vehicle, thus improving the success rate of docking between the transport vehicle and the target container.

[0098] In some other embodiments, prior to the step of connecting to the target container in step S22, the handling method of the present invention further includes the following steps:

[0099] Based on the identifier of the target container, query the status information of the target container;

[0100] Based on the state information of the target container, determine the first position associated with the current location of the target container, the attitude of the target container, and the connection attributes;

[0101] Based on the first position, the orientation of the target container, and the connection attributes, the method of connection with the target container is determined, wherein the method of connection with the target container includes lifting the target container and placing it on top of the transport vehicle, or attaching the target container to the side of the transport vehicle.

[0102] A container's identifier is a symbol used to uniquely identify the container, including but not limited to numbers, letters, or combinations thereof. Connection attributes identify the container's connection method, including but not limited to top-mounted connections, hook connections, and locking connections.

[0103] Connecting the transport vehicle to the target container refers to the transport vehicle securing the target container to itself, enabling the transport vehicle to move the target container. Before connecting the transport vehicle to the target container, the transport vehicle needs to determine the first position associated with the current location of the target container, the orientation of the target container, and the connection attributes to ensure successful docking and connection. Specifically, the transport vehicle obtains the target container's identification code and queries the target container's status information based on the identification code. In some embodiments, the target container's local memory records the target container's current location, a first location associated with the target container's current location, the target container's attitude, and connection attribute information. When the transport vehicle pre-deploys the container in the scene, the transport vehicle determines the current location of the container deployed at the current location, as well as the first location, the target container's attitude information, and connection attribute information, based on its own positioning information. For example, the transport vehicle's current position coordinates are used as the container's current position coordinates, the coordinates of a location at a preset distance from the target container's current location are used as the first location coordinates, the transport vehicle's current attitude angle is used as the target container's attitude angle, and the fixed connection attribute information is used as the container's state information. When the container is deployed, the first location coordinates, attitude angle, and fixed connection attribute information are sent to the container via a communication connection and stored in the container's local memory. It can be understood that the first location is a pre-processed location that the transport vehicle can reach and that can dock with the target container.

[0104] Before the transport vehicle connects to the target container, it establishes a communication connection to obtain the target container's locally stored status information. This information reveals the first position associated with the target container's current location, the target container's attitude, and connection attributes. Based on these information, the transport vehicle determines the connection method, which may include lifting the target container and placing it on top of the transport vehicle, or attaching the target container to the side of the transport vehicle. For example, if the transport vehicle obtains the coordinates of the first position associated with the target container's current location as (x, y), the target container's attitude angle as θ, and the connection attribute as "lift connection," the connection process is as follows: after reaching the position point at coordinates (x, y), the transport vehicle adjusts its attitude according to the attitude angle θ to enter the bottom of the target container through the inlet, drives the support component to lift the target container, thereby detaching it from the ground and enabling the transport vehicle to move the target container. For example, the transport vehicle obtains the coordinates (x, y) of the first position associated with the current location of the target container, the attitude angle of the target container is θ, and the connection attribute is hook connection. The process of connecting the transport vehicle and the target container is as follows: after the transport vehicle reaches the position point of coordinates (x, y), it adjusts its own attitude according to the attitude angle θ of the target container to dock with the side of the target container and achieve fixed attachment, thereby enabling the transport vehicle to transport the target container. Hooks are provided on the side of the target container and the side of the transport vehicle to achieve fixed attachment. The present invention does not limit the shape and type of the hooks.

[0105] Understandably, the target container can be attached to the rear, front, left, or right side of the transport vehicle.

[0106] In this invention, the transport vehicle can determine the method of docking with the target container based on the status information of the target container, thereby ensuring smooth docking and achieving a stable connection.

[0107] Please see Figure 3 In a second aspect, embodiments of the present invention provide a transport device 30, configured on a transport vehicle, the device 30 comprising:

[0108] The receiving module 31 is used to receive a transport task triggered by the target container, execute the transport task, and go to a first location associated with the current location of the target container, wherein the transport task carries information about the first location associated with the current location of the target container;

[0109] The transport module 32 is used to connect with the target container after arriving at the first position and transport the target container to a preset position.

[0110] In other embodiments, the receiving module 31 is further configured to:

[0111] The system receives a transport task triggered based on the target container, wherein the transport task is triggered and sent to the transport vehicle when the target container is filled to a preset capacity, or the transport task is sent to the transport vehicle when the target container is triggered by the user.

[0112] In other embodiments, the receiving module 31 is further configured to:

[0113] Receive multiple transport tasks triggered by the multiple target containers respectively, and store the multiple transport tasks into a task list;

[0114] According to preset rules, the multiple transport tasks in the task list are executed one by one.

[0115] In other embodiments, the receiving module 31 is further configured to:

[0116] Obtain the region to which the first location associated with the current location of the multiple target containers belongs and the filling speed of the multiple target containers;

[0117] Based on the region to which the first location belongs and the speed at which the target container is filled, the execution order is determined among the plurality of handling tasks, and the plurality of handling tasks in the task list are executed respectively according to the execution order.

[0118] In other embodiments, the receiving module 31 is further configured to:

[0119] For each of the transport tasks, a first priority is determined based on the region to which the first location associated with the current location of the target container that triggered the transport task belongs, and a second priority is determined based on the loading speed of the target container.

[0120] Based on the first priority and the second priority, a third priority corresponding to the transportation task is determined;

[0121] The execution order is determined according to the third priority corresponding to each of the multiple handling tasks, and the multiple handling tasks in the task list are executed according to the execution order.

[0122] In other embodiments, the receiving module 31 is further configured to:

[0123] A path is planned based on the current position of the transport vehicle, the preset position, and the first position associated with the current position of the target container;

[0124] According to the planned output path, proceed to the preset location, carry the empty container at the preset location, and then proceed to the first location;

[0125] After reaching a second position at a preset distance from the first position, the idle container is unloaded and placed at the second position;

[0126] Proceed to the first location.

[0127] In other embodiments, the top of the transport vehicle is provided with a liftable support member, the top of which is a convex or concave conical surface, and the bottom of the target container is an adapting surface that matches the top of the support member; or, the top of the support member is a support beam with an arched surface, and the bottom of the target container is an adapting surface that matches the top of the support member.

[0128] The transport module 32 is also used for:

[0129] After reaching the first position, it enters the bottom of the target container and drives the support to move upward relative to the transport vehicle to perform a preset lifting action;

[0130] When the top of the support member and the bottom of the target container are not tightly fitted together, the support member is driven to move downward relative to the transport vehicle to perform a reset action.

[0131] Repeat the steps of driving the support member to move upward relative to the transport vehicle to perform a preset lifting action and subsequent steps until the top of the support member is tightly fitted to the bottom of the target container.

[0132] In other embodiments, the transport module 32 is also used for:

[0133] Based on the identifier of the target container, query the status information of the target container;

[0134] Based on the state information of the target container, determine the first position associated with the current location of the target container, the attitude of the target container, and the connection attributes;

[0135] Based on the first position, the orientation of the target container, and the connection attributes, the method of connection with the target container is determined, wherein the method of connection with the target container includes lifting the target container and placing it on top of the transport vehicle, or attaching the target container to the side of the transport vehicle.

[0136] It is understood that the implementation principle and technical effects of the conveying device 30 proposed in the second aspect of the present invention can be found in the implementation principle and technical effects of the conveying method proposed in the first aspect, and will not be repeated here.

[0137] Please see Figure 4 , Figure 4This is a schematic diagram of the hardware structure of a transport vehicle 400 according to an embodiment of the present invention. The transport vehicle 400 can be a mobile service robot (or an unmanned vehicle) or a mobile service robot chassis. The transport vehicle 400 includes: at least one processor 401, and a memory 402 communicatively connected to the at least one processor 401. Figure 4 Taking a processor 401 as an example, the memory 402 stores instructions (or programs) executable by at least one processor 401. These instructions, when executed by at least one processor 401, enable the at least one processor 401 to perform the steps of a transport method according to the first aspect of the present invention. The processor 401 and the memory 402 can be connected via a bus or other means. Figure 4 Taking bus-based connections as an example.

[0138] The memory 402 is defined as a readable storage medium that can be used to store software programs, executable programs, and modules, such as program instructions / modules corresponding to a handling method that the transport vehicle needs to execute in this embodiment of the invention. The processor 401 executes various functional applications and data processing based on the software programs, instructions, and modules stored in the memory 402, that is, it implements the steps of the handling method proposed in the first aspect of this embodiment of the invention.

[0139] Memory 402 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required for at least one function; the data storage area may store data created by executing a transport method, etc. Memory 402 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 402 may optionally include memory remotely located relative to processor 401, and these remote memories may be connected to the transport vehicle via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0140] One or more modules are stored in memory 402. When executed by one or more processors 401, they implement the steps of the transport method proposed in the first aspect of the present invention. For example, memory 402 stores receiving module 31 and transport module 32 in transport device 30 proposed in the second aspect of the present invention.

[0141] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; under the concept of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for handling materials, characterized in that, Applied to a transport vehicle, the method includes: Receive a transport task triggered by a target container, execute the transport task, and go to a first location associated with the current location of the target container, wherein the transport task carries information about the first location associated with the current location of the target container; After reaching the first position, connect to the target container and transport the target container to the preset position; The steps of receiving a transport task triggered by a target container and executing the transport task include: Receive multiple transport tasks triggered by the multiple target containers respectively, and store the multiple transport tasks into a task list; Obtain the region to which the first location associated with the current location of the multiple target containers belongs and the filling speed of the multiple target containers; Based on the region to which the first location belongs and the speed at which the target container is filled, the execution order is determined among the plurality of handling tasks, and the plurality of handling tasks in the task list are executed respectively according to the execution order.

2. The handling method according to claim 1, characterized in that, The steps for receiving a transport task triggered by the target container include: The system receives a transport task triggered based on the target container, wherein the transport task is triggered and sent to the transport vehicle when the target container is filled to a preset capacity, or the transport task is sent to the transport vehicle when the target container is triggered by the user.

3. The handling method according to claim 1, characterized in that, Based on the region to which the first location belongs and the filling speed of the target container, the steps of determining the execution order among the plurality of handling tasks, and executing the plurality of handling tasks in the task list according to the execution order, include: For each of the transport tasks, a first priority is determined based on the region to which the first location associated with the current location of the target container that triggered the transport task belongs, and a second priority is determined based on the loading speed of the target container. Based on the first priority and the second priority, a third priority corresponding to the transportation task is determined; The execution order is determined according to the third priority corresponding to each of the multiple handling tasks, and the multiple handling tasks in the task list are executed according to the execution order.

4. The handling method according to claim 1, characterized in that, The step of traversing to a first location associated with the current location of the target container includes: A path is planned based on the current position of the transport vehicle, the preset position, and the first position associated with the current position of the target container; According to the planned output path, proceed to the preset location, carry the empty container at the preset location, and then proceed to the first location; After reaching a second position at a preset distance from the first position, the idle container is unloaded and placed at the second position; Proceed to the first location.

5. The handling method according to any one of claims 1-4, characterized in that, The top of the transport vehicle is equipped with a liftable and movable support member. The top of the support member is a convex or concave conical surface, and the bottom of the target container is an adapting surface that matches the top of the support member; or, the top of the support member is a support beam with an arched surface, and the bottom of the target container is an adapting surface that matches the top of the support member. The step of connecting to the target container after reaching the first location includes: After reaching the first position, it enters the bottom of the target container and drives the support to move upward relative to the transport vehicle to perform a preset lifting action; When the top of the support member and the bottom of the target container are not tightly fitted together, the support member is driven to move downward relative to the transport vehicle to perform a reset action. Repeat the steps of driving the support member to move upward relative to the transport vehicle to perform a preset lifting action and subsequent steps until the top of the support member is tightly fitted to the bottom of the target container.

6. The handling method according to any one of claims 1-4, characterized in that, Prior to the step of connecting to the target container, the method further includes: Based on the identifier of the target container, query the status information of the target container; Based on the state information of the target container, determine the first position associated with the current location of the target container, the attitude of the target container, and the connection attributes; Based on the first position, the orientation of the target container, and the connection attributes, the method of connection with the target container is determined, wherein the method of connection with the target container includes lifting the target container and placing it on top of the transport vehicle, or attaching the target container to the side of the transport vehicle.

7. A transport vehicle, characterized in that, The transport vehicle includes: At least one processor; and A memory that is communicatively connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the transport method as described in any one of claims 1-6.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the transport method as described in any one of claims 1-6.

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