Goods placing method, device and equipment, mobile robot system and storage medium

Abstract

The embodiment of the invention provides a goods placing method, device and equipment, a mobile robot system and a storage medium, and relates to the technical field of mobile robots, and the mobile robots are provided with sensors. The method comprises the following steps: receiving a waiting point issued by a scheduling platform and a target point in a goods storage layer in a target goods shelf; after moving to a waiting point, detecting a neighborhood range of the target point by using a sensor to obtain an idle goods placing space in the target goods shelf; based on the target point and the size of the target goods, determining an initial goods placing space for storing the target goods in a goods storage layer on the target goods shelf; based on the relative position relation between the goods placing space and the initial goods placing space, whether an obstacle exists in the initial goods placing space or not is detected; if the obstacle exists in the initial goods placing space, determining a target goods placing space which does not collide with the obstacle and meets the size of the target goods from the goods placing spaces; and the target goods are stored in the target goods placing space, so that the safety of industrial production can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of mobile robots, and in particular to a cargo release method, device, equipment, mobile robot system and storage medium. Background Art

[0002] A forklift robot is a mobile robot used to transport goods, which can be referred to as an intelligent forklift. When the forklift robot performs the task of transporting goods, the dispatching platform sends the location of the designated waiting point to the forklift robot. The forklift robot moves to the waiting point according to the location and returns a feedback message to the dispatching platform that it has moved to the waiting point. When the dispatching platform determines that the forklift robot has moved to the waiting point based on the feedback message, the location of the target point for storing goods in the shelf is sent to the forklift robot, and the forklift robot stores the goods in the cargo storage space of the target point according to the location.

[0003] However, for the complex working conditions of human-machine collaboration, the target point issued by the dispatching platform is not an ideal target point. Sometimes, when the forklift robot places the goods on the shelf, the cargo space at the target point often intrudes into adjacent goods or other objects. In this case, if the goods continue to be placed in the cargo space at the target point, it will often cause problems such as scratching or even hitting the shelf, reducing safety. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a method, device, equipment, mobile robot system and storage medium for releasing goods to improve the safety of industrial production. The specific technical solution is as follows:

[0005] In a first aspect, in order to achieve the above-mentioned purpose, an embodiment of the present application provides a cargo placing method, which is applied to a mobile robot, on which a sensor is installed, and the method comprises: receiving a waiting point of the mobile robot and a target point in a cargo storage layer in a target shelf issued by a scheduling platform; after moving to the waiting point, using the sensor to detect a neighborhood range of the target point to obtain an empty cargo placing space in the target shelf; based on the size of the target point and the target cargo, determining an initial cargo placing space for storing the target cargo in the cargo storage layer on the target shelf; based on the relative positional relationship between the cargo placing space and the initial cargo placing space, detecting whether there is an obstacle in the initial cargo placing space; in the case where there is an obstacle in the initial cargo placing space, determining a target cargo placing space that does not collide with the obstacle and meets the size of the target cargo from the cargo placing space; and storing the target cargo in the target cargo placing space.

[0006] Optionally, detecting whether there is an obstacle in the initial cargo placing space based on the relative positional relationship between the available cargo placing space and the initial cargo placing space includes: determining that there is no obstacle in the initial cargo placing space when the entire initial cargo placing space belongs to the available cargo placing space; and determining that there is an obstacle in the initial cargo placing space when part of the initial cargo placing space belongs to the available cargo placing space.

[0007] Optionally, the determining, based on the target point and the size of the target goods, an initial cargo storage space for storing the target goods in the cargo storage layer on the target shelf includes:

[0008] In the cargo storage layer on the target shelf, determine a two-dimensional area with the target point as the center point, the width as the width of the target cargo, and the length as the length of the target cargo, to obtain the initial cargo placement space;

[0009] or,

[0010] In the cargo storage layer on the target shelf, determine a three-dimensional area whose target point is the center point of the bottom surface, whose width is the width of the target cargo, whose length is the length of the target cargo, and whose height is the height of the target cargo, to obtain the initial cargo placement space.

[0011] Optionally, determining, from the available cargo placement spaces, a target cargo placement space that does not collide with obstacles and meets the size of the target cargo includes:

[0012] In the cargo placing space, determine a cargo placing space which is larger than the target cargo and makes the target cargo closest to an adjacent obstacle, to obtain a target cargo placing space;

[0013] or,

[0014] In the cargo placing space, determine a cargo placing space which is larger than the target cargo and enables the target cargo to be located in the middle of the cargo placing space, to obtain a target cargo placing space;

[0015] or,

[0016] According to the custom storage location selection strategy, a cargo placement space that is larger than the size of the target cargo is determined in the cargo placement space to obtain the target cargo placement space; wherein the custom storage location selection strategy includes any one of the following: a strategy in which the target cargo is close to the left side of the cargo placement space, a strategy in which the target cargo is close to the right side of the cargo placement space, and a strategy in which the target cargo is located in the middle of the cargo placement space.

[0017] Optionally, before detecting whether there is an obstacle in the initial cargo placing space based on the relative position relationship between the cargo placing space and the initial cargo placing space, the method further includes: determining that a cargo placing condition is satisfied when a size of the cargo placing space is not less than a size of the target cargo;

[0018] The detecting whether there is an obstacle in the initial cargo placing space based on the relative position relationship between the cargo placing space and the initial cargo placing space comprises: when the cargo placing condition is met, detecting whether there is an obstacle in the initial cargo placing space based on the relative position relationship between the cargo placing space and the initial cargo placing space;

[0019] The method further includes: storing the target cargo in the initial cargo placing space when no obstacle exists in the initial cargo placing space.

[0020] Optionally, after storing the target cargo in the target cargo release space, the method further includes: sending the center point of the target cargo release space to the scheduling platform, so that the scheduling platform records that the target cargo is stored in the target cargo release space.

[0021] Optionally, storing the target cargo in the target cargo placement space includes: taking the center point of the target cargo placement space in the cargo storage layer in the target shelf as the center point of the bottom surface of the target cargo, and moving based on the angle between the orientation of the mobile robot and the target shelf, and the distance between the center point of the bottom surface of the target cargo and the center point of the mobile robot, so as to store the target cargo in the target cargo placement space.

[0022] Optionally, the mobile robot is a forklift robot; the sensor is installed at the lower end of the fork of the forklift robot and rises or falls with the fork; the sensor detects the available space for cargo in the cargo storage layer in the target shelf; when the sensor is a two-dimensional laser radar, the available space for cargo is a two-dimensional area; when the sensor is a three-dimensional laser radar, the available space for cargo is a three-dimensional area.

[0023] In the second aspect, in order to achieve the above-mentioned purpose, an embodiment of the present application provides a cargo placing method, which is applied to a mobile robot, and a sensor is installed on the mobile robot. The method includes: receiving a waiting point of the mobile robot issued by a scheduling platform; after moving to the waiting point, using the sensor to detect the cargo storage layer of the target shelf to obtain the free cargo placing space in the target shelf; from the cargo placing space, determining a target cargo placing space that does not collide with obstacles and meets the size of the target cargo; and storing the target cargo in the target cargo placing space.

[0024] Optionally, the using the sensor to detect the cargo storage layer of the target shelf to obtain the free cargo space in the target shelf, including: using the sensor to detect the cargo storage layer of the target shelf to obtain the position of the crossbeam, the position of the vertical beam, and the position of the placed cargo in the cargo storage layer of the target shelf; based on the position of the crossbeam and the position of the vertical beam, obtaining the total cargo space for placing cargo in the cargo storage layer of the target shelf; in the total cargo space, determining the cargo space excluding the placed cargo to obtain the free cargo space in the target shelf.

[0025] Optionally, determining a target cargo placement space from the cargo placement space that does not collide with obstacles and meets the size of the target cargo includes: detecting whether there is a vertical beam of the target shelf within a preset distance from a target edge of the cargo placement space; wherein the target edge includes a left edge and / or a right edge of the cargo placement space; if there is a vertical beam of the target shelf within the preset distance from the target edge of the cargo placement space, determining a cargo placement space with the target edge of the cargo placement space as a starting edge and larger than the size of the target cargo from the cargo placement space to obtain the target cargo placement space; determining a cargo placement space other than the determined target cargo placement space in the cargo placement space to obtain a new cargo placement space, and returning to execute the step of detecting whether there is a vertical beam of the target shelf within a preset distance from the target edge of the cargo placement space; if there is no vertical beam of the target shelf within the preset distance from the target edge of the cargo placement space, dividing the cargo placement space into a plurality of target cargo placement spaces larger than the size of the target cargo according to the size of the target cargo.

[0026] Optionally, there are multiple target cargo delivery spaces;

[0027] Before storing the target cargo in the target cargo release space, the method further includes: selecting a target cargo release space from a plurality of target cargo release spaces according to a preset storage location selection strategy; wherein the preset storage location selection strategy includes any one of the following: a selection strategy in which the target cargo is closest to an adjacent obstacle, a selection strategy in which the target cargo is located in the middle of the cargo release space, and a user-defined storage location selection strategy; the user-defined storage location selection strategy includes any one of the following: a strategy in which the target cargo is close to the left side of the cargo release space, a strategy in which the target cargo is close to the right side of the cargo release space, and a selection strategy in which the target cargo is located in the middle of the cargo release space;

[0028] The storing the target cargo in the target cargo releasing space includes: storing the target cargo in the selected target cargo releasing space.

[0029] Optionally, storing the target cargo in the target cargo placement space includes: taking the center point of the target cargo placement space in the cargo storage layer in the target shelf as the center point of the bottom surface of the target cargo, and moving based on the angle between the orientation of the mobile robot and the target shelf, and the distance between the center point of the bottom surface of the target cargo and the center point of the mobile robot, so as to store the target cargo in the target cargo placement space.

[0030] Optionally, the mobile robot is a forklift robot; the sensor is installed at the lower end of the fork of the forklift robot and rises or falls with the fork; the sensor detects the available space for cargo in the cargo storage layer in the target shelf; when the sensor is a two-dimensional laser radar, the available space for cargo is a two-dimensional area; when the sensor is a three-dimensional laser radar, the available space for cargo is a three-dimensional area.

[0031] In a third aspect, in order to achieve the above-mentioned purpose, an embodiment of the present application provides a cargo release device, which is applied to a mobile robot, and a sensor is installed on the mobile robot, and the device includes:

[0032] A receiving module, used for receiving the waiting point of the mobile robot and the target point in the cargo storage layer of the target shelf sent by the scheduling platform;

[0033] A cargo space acquisition module is used to detect the neighborhood of the target point using the sensor after moving to the waiting point to obtain the free cargo space in the target shelf;

[0034] An initial cargo placement space acquisition module, used to determine an initial cargo placement space for storing the target cargo in the cargo storage layer on the target shelf based on the target point and the size of the target cargo;

[0035] An obstacle detection module, configured to detect whether there is an obstacle in the initial cargo placing space based on the relative position relationship between the cargo placing space and the initial cargo placing space;

[0036] a target cargo placing space determining module, configured to determine, from the available cargo placing space, a target cargo placing space that does not collide with the obstacle and meets the size of the target cargo if there is an obstacle in the initial cargo placing space;

[0037] The first cargo storage module is used to store the target cargo in the target cargo storage space.

[0038] Optionally, the obstacle detection module is specifically used to determine that there is no obstacle in the initial cargo placing space when the entire initial cargo placing space belongs to the cargo placing space; and to determine that there is an obstacle in the initial cargo placing space when part of the initial cargo placing space belongs to the cargo placing space.

[0039] Optionally, the initial cargo placement space acquisition module is specifically used to determine, in the cargo storage layer on the target shelf, a two-dimensional area with a target point as the center point, a width as the width of the target cargo, and a length as the length of the target cargo, to obtain the initial cargo placement space;

[0040] or,

[0041] In the cargo storage layer on the target shelf, determine a three-dimensional area whose target point is the center point of the bottom surface, whose width is the width of the target cargo, whose length is the length of the target cargo, and whose height is the height of the target cargo, to obtain the initial cargo placement space.

[0042] Optionally, the target cargo placement space determination module is specifically configured to determine, in the cargo placement space, a cargo placement space that is larger than the size of the target cargo and that makes the distance between the target cargo and an adjacent obstacle the shortest, to obtain the target cargo placement space;

[0043] or,

[0044] In the cargo placing space, determine a cargo placing space which is larger than the target cargo and enables the target cargo to be located in the middle of the cargo placing space, to obtain a target cargo placing space;

[0045] or,

[0046] According to the custom storage location selection strategy, a cargo placement space that is larger than the size of the target cargo is determined in the cargo placement space to obtain the target cargo placement space; wherein the custom storage location selection strategy includes any one of the following: a strategy in which the target cargo is close to the left side of the cargo placement space, a strategy in which the target cargo is close to the right side of the cargo placement space, and a strategy in which the target cargo is located in the middle of the cargo placement space.

[0047] Optionally, the device further comprises:

[0048] a cargo placing condition detection module, configured to determine that a cargo placing condition is satisfied when a size of the cargo placing space is not less than a size of the target cargo, before the obstacle detection module detects whether there is an obstacle in the initial cargo placing space based on the relative position relationship between the cargo placing space and the initial cargo placing space;

[0049] The obstacle detection module is specifically configured to detect whether there is an obstacle in the initial cargo placing space based on the relative position relationship between the cargo placing space and the initial cargo placing space when the cargo placing condition is met;

[0050] The device also includes:

[0051] The second cargo storage module is used to store the target cargo in the initial cargo release space when there is no obstacle in the initial cargo release space.

[0052] Optionally, the device further comprises:

[0053] The recording module is used to send the center point of the target cargo release space to the scheduling platform after the first cargo storage module executes the storage of the target cargo in the target cargo release space, so that the scheduling platform records that the target cargo is stored in the target cargo release space.

[0054] Optionally, the first cargo storage module is specifically used to use the center point of the target cargo storage space in the cargo storage layer in the target shelf as the center point of the bottom surface of the target cargo, and move based on the angle between the orientation of the mobile robot and the target shelf, and the distance between the center point of the bottom surface of the target cargo and the center point of the mobile robot, so as to store the target cargo in the target cargo storage space.

[0055] Optionally, the mobile robot is a forklift robot; the sensor is installed at the lower end of the fork of the forklift robot and rises or falls with the fork; the sensor detects the available space for cargo in the cargo storage layer in the target shelf; when the sensor is a two-dimensional laser radar, the available space for cargo is a two-dimensional area; when the sensor is a three-dimensional laser radar, the available space for cargo is a three-dimensional area.

[0056] In a fourth aspect, in order to achieve the above-mentioned purpose, an embodiment of the present application provides a cargo release device, which is applied to a mobile robot, and a sensor is installed on the mobile robot, and the device includes:

[0057] A receiving module, used for receiving the waiting point of the mobile robot sent by the scheduling platform;

[0058] A cargo space acquisition module is used to detect the cargo storage layer of the target shelf using the sensor after moving to the waiting point to obtain the free cargo space in the target shelf;

[0059] A target cargo placement space determination module is used to determine a target cargo placement space that does not collide with obstacles and meets the size of the target cargo from the cargo placement space;

[0060] The cargo storage module is used to store the target cargo in the target cargo storage space.

[0061] Optionally, the available cargo space acquisition module is specifically used to use the sensor to detect the cargo storage layer of the target shelf to obtain the position of the crossbeam, the position of the vertical beam, and the position of the placed cargo in the cargo storage layer of the target shelf; based on the position of the crossbeam and the position of the vertical beam, obtain the total cargo space for placing cargo in the cargo storage layer of the target shelf; in the total cargo space, determine the cargo space excluding the placed cargo to obtain the free available cargo space in the target shelf.

[0062] Optionally, the target cargo placing space determining module is specifically used to detect whether there is a vertical beam of the target shelf within a preset distance of a target edge of the cargo placing space; wherein the target edge includes a left edge and / or a right edge of the cargo placing space; if there is a vertical beam of the target shelf within the preset distance of the target edge of the cargo placing space, determine a cargo placing space with the target edge of the cargo placing space as a starting edge and larger than the size of the target cargo from the cargo placing space to obtain the target cargo placing space; determine a cargo placing space other than the determined target cargo placing space in the cargo placing space to obtain a new cargo placing space, and return to execute the step of detecting whether there is a vertical beam of the target shelf within a preset distance of the target edge of the cargo placing space; if there is no vertical beam of the target shelf within the preset distance of the target edge of the cargo placing space, divide the cargo placing space into a plurality of target cargo placing spaces larger than the size of the target cargo according to the size of the target cargo.

[0063] Optionally, there are multiple target cargo delivery spaces;

[0064] The device also includes:

[0065] A target cargo release space selection module is used to select a target cargo release space from multiple target cargo release spaces according to a preset storage location selection strategy before the cargo storage module executes the storage of the target cargo in the target cargo release space; wherein the preset storage location selection strategy includes any one of the following: a selection strategy in which the target cargo is closest to an adjacent obstacle, a selection strategy in which the target cargo is located in the middle of the cargo release space, and a user-defined storage location selection strategy; the user-defined storage location selection strategy includes any one of the following: a strategy in which the target cargo is close to the left side of the cargo release space, a strategy in which the target cargo is close to the right side of the cargo release space, and a selection strategy in which the target cargo is located in the middle of the cargo release space;

[0066] The cargo storage module is specifically used to store the target cargo in the selected target cargo storage space.

[0067] Optionally, the cargo storage module is specifically used to use the center point of the target cargo storage space in the cargo storage layer in the target shelf as the center point of the bottom surface of the target cargo, and move based on the angle between the orientation of the mobile robot and the target shelf, and the distance between the center point of the bottom surface of the target cargo and the center point of the mobile robot, so as to store the target cargo in the target cargo space.

[0068] Optionally, the mobile robot is a forklift robot; the sensor is installed at the lower end of the fork of the forklift robot and rises or falls with the fork; the sensor detects the available space for cargo in the cargo storage layer in the target shelf; when the sensor is a two-dimensional laser radar, the available space for cargo is a two-dimensional area; when the sensor is a three-dimensional laser radar, the available space for cargo is a three-dimensional area.

[0069] An embodiment of the present application further provides an electronic device, comprising: a memory for storing computer programs; and a processor for implementing any of the above-mentioned methods for releasing goods when executing the programs stored in the memory.

[0070] The embodiment of the present application also provides a mobile robot system, including a data acquisition module and a processor; the data acquisition module includes a sensor;

[0071] The data acquisition module is used to detect the cargo storage layer in the target shelf through the sensor to obtain the free cargo storage space in the target shelf;

[0072] The processor is used to execute any of the above steps of the method for releasing goods.

[0073] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned methods for releasing goods is implemented.

[0074] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above-described methods for releasing goods.

[0075] Beneficial effects of the embodiments of the present application:

[0076] The embodiment of the present application provides a cargo placing method, which is applied to a mobile robot, and a sensor is installed on the mobile robot. The waiting point of the mobile robot and the target point in the cargo storage layer of the target shelf issued by the scheduling platform are received; after moving to the waiting point, the neighborhood range of the target point is detected by the sensor to obtain the free cargo placing space in the target shelf; based on the size of the target point and the target cargo, the initial cargo placing space for storing the target cargo is determined in the cargo storage layer on the target shelf; based on the relative position relationship between the cargo placing space and the initial cargo placing space, whether there is an obstacle in the initial cargo placing space is detected; if there is an obstacle in the initial cargo placing space, a target cargo placing space that does not collide with the obstacle and meets the size of the target cargo is determined from the cargo placing space; the target cargo is stored in the target cargo placing space.

[0077] Based on the above processing, it is possible to detect whether there are obstacles in the initial cargo placement space. If there are obstacles in the initial cargo placement space, a target cargo placement space that does not collide with the obstacles and meets the size of the target cargo is determined from the available cargo placement space, and the target cargo is stored in the target cargo placement space, which can improve the safety of industrial production.

[0078] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0080] Figure 1 A flowchart of a first method for releasing goods provided in an embodiment of the present application;

[0081] Figure 2a A structural diagram of a mobile robot provided in an embodiment of the present application;

[0082] Figure 2b The sensor provided in the embodiment of the present application is Figure 2a A schematic diagram of the installation position on the mobile robot;

[0083] Figure 3 A flow chart of a second method for releasing goods provided in an embodiment of the present application;

[0084] Figure 4 A schematic diagram of a first type of cargo placing process of a mobile robot provided in an embodiment of the present application;

[0085] Figure 5aA schematic diagram of a second mobile robot placing goods according to an embodiment of the present application;

[0086] Figure 5b A schematic diagram of a third type of mobile robot placing goods in an embodiment of the present application;

[0087] Figure 5c A schematic diagram of a fourth type of cargo placing process of a mobile robot provided in an embodiment of the present application;

[0088] Figure 6 A flowchart of a third method for releasing goods provided in an embodiment of the present application;

[0089] Figure 7 A flowchart of a fourth method for releasing goods provided in an embodiment of the present application;

[0090] Figure 8 A flowchart of a fifth method for releasing goods provided in an embodiment of the present application;

[0091] Fig. 9 A schematic diagram of a cargo storage space provided in an embodiment of the present application;

[0092] Fig.10 A flowchart of a sixth method of releasing goods provided in an embodiment of the present application;

[0093] Fig.11a A schematic diagram of a first target cargo storage space provided in an embodiment of the present application;

[0094] Fig.11b A schematic diagram of a second target cargo storage space provided in an embodiment of the present application;

[0095] Fig.12 A structural diagram of a first cargo release device provided in an embodiment of the present application;

[0096] Fig.13 A structural diagram of a second cargo releasing device provided in an embodiment of the present application;

[0097] Fig.14 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0098] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0099] In the related technology, for the complex working conditions of human-machine collaboration, the target point issued by the dispatching platform is not an ideal target point. Sometimes, when the forklift robot places the goods on the shelf, the cargo space at the target point often intrudes into the adjacent goods or other objects. In this case, if the goods continue to be placed in the cargo space at the target point, it will often cause problems such as scratching or even hitting the shelf, reducing safety.

[0100] In order to solve the above problems, an embodiment of the present application provides a cargo placing method, which is applied to a mobile robot. The mobile robot is equipped with a logic operation unit, and the logic operation unit is used to execute the cargo placing method provided by the embodiment of the present application. A sensor is installed on the mobile robot. For example, the mobile robot is a forklift robot, and the sensor is installed at the lower end of the fork of the forklift robot, which can be raised or lowered with the fork. The mobile robot can use the sensor to detect the free cargo placing space of the target shelf, and determine the target cargo placing space that does not collide with obstacles and meets the size of the target goods from the cargo placing space, and store the target goods in the target cargo placing space, which can improve the safety of industrial production. For example, it can avoid scratching between goods, and avoid the problem of goods hitting the shelf and collapsing.

[0101] See also Figure 1 , Figure 1 A flowchart of a method for placing goods provided in an embodiment of the present application, the method is applied to a mobile robot, a sensor is installed on the mobile robot, and the method may include the following steps:

[0102] S101: receiving the waiting point of the mobile robot sent by the scheduling platform and the target point in the cargo storage layer of the target shelf.

[0103] S102: After moving to the waiting point, the sensor is used to detect the neighborhood of the target point to obtain the free space for placing goods in the target shelf.

[0104] S103: Based on the target point and the size of the target goods, determine an initial cargo storage space for storing the target goods in the cargo storage layer on the target shelf.

[0105] S104: Based on the relative position relationship between the available cargo placement space and the initial cargo placement space, detect whether there is an obstacle in the initial cargo placement space.

[0106] S105: When there is an obstacle in the initial cargo placement space, a target cargo placement space that does not collide with the obstacle and meets the size of the target cargo is determined from the available cargo placement spaces.

[0107] S106: Storing the target cargo in the target cargo storage space.

[0108] Based on the cargo placement method provided in the embodiment of the present application, it is possible to detect whether there are obstacles in the initial cargo placement space. When there are obstacles in the initial cargo placement space, a target cargo placement space that does not collide with the obstacles and meets the size of the target cargo is determined from the cargo placement space, and the target cargo is stored in the target cargo placement space, thereby improving the safety of industrial production.

[0109] With respect to step S101 and step S102, the mobile robot may be a robot used to carry goods in an industrial generation scene. The mobile robot is equipped with a sensor, which may be a two-dimensional laser radar or a three-dimensional laser radar. Figure 2a As shown, the mobile robot is a forklift robot, and the forklift robot includes fork teeth 201, such as Figure 2b As shown, the sensor 202 is installed at the lower end of the fork tine 201, and the sensor can be raised or lowered along with the fork tine.

[0110] The mobile robot communicates with the dispatching platform. The dispatching platform is used to uniformly manage multiple cargo storage tasks. When the target cargo needs to be stored on the target shelf, the dispatching platform sends the mobile robot the waiting point and the target point in the cargo storage layer of the target shelf.

[0111] The waiting point is in front of the target shelf and at a specified distance from the target shelf. The specified distance is the distance that makes the target point within the detection range of the sensor and makes the fork of the mobile robot not collide with the target shelf.

[0112] The target point is the center point of the initial storage space for storing the target goods in the goods storage layer in the target shelf.

[0113] The dispatching platform can also send the size of the target goods, the goods storage layer of the target goods in the target shelf, and the route from the current stop position of the mobile robot to the waiting point to the mobile robot.

[0114] Accordingly, after the mobile robot moves to the waiting point according to the received route, it controls the fork tine to rise to the height of the cargo storage layer of the target shelf, so that the cargo storage layer is within the detection range of the sensor. Then, the sensor can be used to detect the neighborhood range of the target point in the cargo storage layer, and based on the detection data of the sensor, the free cargo placement space in the cargo storage layer of the target shelf is obtained. The neighborhood range of the target point is the detection range of the sensor including the target point. Accordingly, the cargo placement space is the free cargo placement space in the neighborhood range of the initial cargo placement space.

[0115] In some embodiments, when the mobile robot arrives at the waiting point, it can also determine whether it can detect the available cargo space in the target shelf based on the position and posture of the mobile robot. The position and posture of the mobile robot include the position and orientation of the mobile robot. The orientation of the mobile robot is the orientation of the front end of the fork tine.

[0116] When the sensor in the mobile robot is a three-dimensional laser radar, since the three-dimensional laser radar can perform three-dimensional detection, the orientation of the mobile robot will not affect the mobile robot's identification of available cargo space, and no processing is required.

[0117] When the sensor in the mobile robot is a two-dimensional laser radar, the two-dimensional laser radar is installed in front of the mobile robot. Therefore, the sensor in the mobile robot can only identify the available space for cargo when the angle between the orientation of the mobile robot and the target shelf is within a preset range. The preset range is set by the technician according to the needs so that the mobile robot can identify the available space for cargo in the cargo storage layer of the target shelf. For example, when the orientation of the mobile robot is perpendicular to the target shelf, the angle between the orientation of the mobile robot and the target shelf is 90 degrees. Alternatively, the angle between the orientation of the mobile robot and the target shelf can also be 88 degrees, or the angle between the orientation of the mobile robot and the target shelf can also be 93 degrees.

[0118] If the angle between the orientation of the mobile robot and the target shelf is not within the preset range, the available cargo space in the cargo storage layer of the target shelf cannot be detected. Therefore, the mobile robot can rotate so that the angle between the orientation of the mobile robot and the target shelf is within the preset range.

[0119] In the case where the sensor is a two-dimensional laser radar, the sensor can detect the cargo-placing space in the horizontal plane where the cargo storage layer of the target shelf is located, that is, the cargo-placing space is a two-dimensional area in the horizontal plane where the cargo storage layer of the target shelf is located. Accordingly, the mobile robot determines the cargo-placing space, that is, determines the coordinates of the four vertices of the cargo-placing space in the horizontal plane where the cargo storage layer of the target shelf is located.

[0120] In the case where the sensor is a three-dimensional laser radar, the sensor can detect a three-dimensional cargo-placing space, that is, the cargo-placing space is a three-dimensional area, and the bottom surface of the three-dimensional area is located in the cargo storage layer of the target shelf. Accordingly, the mobile robot determines the cargo-placing space, that is, determines the coordinates of the eight vertices of the cargo-placing space, and the four vertices of the bottom surface of the cargo-placing space are located in the cargo storage layer of the target shelf.

[0121] With respect to step S103, when the mobile robot uses a carrier to transport the target goods, in the embodiment of the present application, the size of the carrier can be used to represent the size of the target goods. The carrier can be a shelf, a cargo box, a sticky board, etc. When the mobile robot does not use a carrier to transport the target goods, the actual size of the target goods is used to represent the size of the target goods.

[0122] Since the target point is the center point of the initial cargo placement space for storing the target cargo, the initial cargo placement space can be determined based on the target point and the size of the target cargo.

[0123] In one implementation, the initial cargo placement space is a two-dimensional area. The mobile robot determines a two-dimensional area with the target point as the center point, the width as the width of the target cargo, and the length as the length of the target cargo in the cargo storage layer on the target shelf to obtain the initial cargo placement space. That is, the coordinates of the four vertices of the initial cargo placement space in the horizontal plane where the cargo storage layer on the target shelf is located are determined.

[0124] In another implementation, the initial cargo placement space is a three-dimensional area. The mobile robot determines a three-dimensional area with the target point as the center point of the bottom surface, the width as the width of the target cargo, the length as the length of the target cargo, and the height as the height of the target cargo in the cargo storage layer on the target shelf to obtain the initial cargo placement space. That is, the coordinates of the eight vertices of the initial cargo placement space are determined, and the four vertices of the bottom surface of the initial cargo placement space are located in the cargo storage layer of the target shelf.

[0125] Based on the above processing, the determined initial cargo release space is a space sufficient to store the target cargo. Subsequently, it can be detected whether there are obstacles in the initial cargo release space, and cargo can be released based on whether there are obstacles in the initial cargo release space, thereby improving the safety of industrial production.

[0126] In some embodiments, Figure 1 Based on Figure 3 , step S104 may include the following steps:

[0127] S1041: When all the initial cargo placement spaces are available cargo placement spaces, determine that no obstacles exist in the initial cargo placement spaces.

[0128] S1042: When part of the initial cargo placement space is cargo placement space, determine whether there is an obstacle in the initial cargo placement space.

[0129] When the initial cargo placement space is entirely available for cargo placement, it indicates that the initial cargo placement space is entirely free space, and it is determined that there is no obstacle in the initial cargo placement space. When part of the initial cargo placement space is available for cargo placement, it indicates that there is an obstacle in the part of the initial cargo placement space that is not available for cargo placement, that is, there is an obstacle in the initial cargo placement space.

[0130] Based on the above processing, it can be determined whether there are obstacles in the initial cargo release space, and cargo can be subsequently released based on whether there are obstacles in the initial cargo release space, thereby improving the safety of industrial production.

[0131] In some embodiments, after step S104, the method may further include the following step: if there are no obstacles in the initial cargo release space, storing the target cargo in the initial cargo release space.

[0132] For example, see Figure 4 , the shelf area 401 is the space for placing goods in the upper cargo storage layer of the target shelf. The storage space 402 fed back by the sensor is the space available for placing goods. The target storage space 403 represents the initial cargo placing space. The carrier 404 represents the target goods. When the storage space is sufficient, the target point remains unchanged, that is, when there are no obstacles in the initial cargo placing space, the initial cargo placing space is also the target cargo placing space. The center point of the target storage space 403 ( Figure 4 The dot in the middle is the target point sent by the scheduling platform.

[0133] That is to say, if there are no obstacles in the initial cargo placement space and the size of the initial cargo placement space is larger than the size of the target cargo, the target cargo can be placed in the initial cargo placement space without scratching other cargo. The target cargo can be directly stored in the initial cargo placement space without re-determining the target cargo placement space, which can improve cargo placement efficiency.

[0134] The method of storing the target goods in the initial cargo release space is similar to the method of storing the target goods in the target cargo release space, and reference may be made to the related descriptions in the subsequent embodiments.

[0135] In some embodiments, before step S104, the method may further include the following steps: when the size of the available cargo space is not less than the size of the target cargo, determining that the cargo release condition is met.

[0136] Accordingly, step S104 may include the following steps: when the cargo placing condition is met, based on the relative position relationship between the cargo placing space and the initial cargo placing space, detecting whether there is an obstacle in the initial cargo placing space.

[0137] In one implementation, when the cargo space is a two-dimensional area, the width of the cargo space is not less than the width of the target cargo, and the length of the cargo space is not less than the length of the target cargo, then it can be determined that the size of the cargo space is not less than the size of the cargo.

[0138] When the cargo space is a three-dimensional area, the width of the cargo space is not less than the width of the target cargo, the length of the cargo space is not less than the length of the target cargo, and the height of the cargo space is not less than the height of the target cargo, and the size of the cargo space is determined to be not less than the size of the cargo.

[0139] When the size of the available cargo space is not less than the size of the target cargo, it indicates that the available cargo space is sufficient to accommodate the target cargo, that is, the available cargo space meets the cargo placement conditions. Further, when it is determined that the available cargo space meets the cargo placement conditions, it is determined whether there are obstacles in the initial cargo placement space based on the phase position relationship between the available cargo space and the initial cargo placement space.

[0140] In some embodiments, when the size of the available cargo space is smaller than the size of the target cargo, it indicates that the available cargo space cannot accommodate the target cargo, that is, the cargo placement conditions are not met, and the mobile robot can output an alarm message to remind the user that there is no suitable space to store the target cargo.

[0141] Based on the above processing, when the cargo-placing space meets the cargo-placing conditions, it is detected whether there are obstacles stored in the initial cargo-placing space. Subsequently, cargo is placed based on whether there are obstacles in the initial cargo-placing space, thereby improving the safety of industrial production. In addition, when the cargo-placing space does not meet the cargo-placing conditions, it is not necessary to detect whether there are obstacles in the initial cargo-placing space, thereby saving system resources of the mobile robot.

[0142] With respect to step S105, if there are obstacles in the initial cargo placement space, it indicates that the initial cargo placement space cannot accommodate the target cargo. If the target cargo continues to be placed in the initial cargo placement space, it will be scratched with other cargo. In order to improve the safety of industrial production, a target cargo placement space without obstacles is re-determined in the available cargo placement space. That is, based on the preset cargo placement strategy, a target cargo placement space is determined that does not collide with obstacles and meets the size of the target cargo.

[0143] In one implementation, the preset cargo placement strategy is: a storage location selection strategy based on the proximity principle. The storage location selection strategy based on the proximity principle is to make the distance between the target cargo and the adjacent obstacles as short as possible, that is, to achieve the placement of the target cargo close to the edge, making full use of the idle cargo placement space, and improving space utilization.

[0144] Accordingly, step S105 may include the following steps: when there are obstacles in the initial cargo placement space, determine a cargo placement space in the available cargo placement space that is larger than the target cargo and that makes the target cargo closest to the adjacent obstacles, to obtain the target cargo placement space.

[0145] According to the target direction, the initial cargo placement space is moved so that the edge of the initial cargo placement space overlapping with the obstacle is moved to be adjacent to the obstacle, and the initial cargo placement space after the move is determined as the target cargo placement space. The target direction is the direction away from the obstacle overlapping with the initial cargo placement space.

[0146] For example, see Figure 5a , the shelf area 501 is the area on the cargo storage layer of the target shelf for placing goods. The storage space 506 fed back by the sensor is the space available for placing goods. The carrier 505 represents the target goods. The target storage space 503 is the initial cargo placing space. The target storage space has been invaded, which means that there is an obstacle 502 in the initial cargo placing space, and the goods cannot be placed normally. Figure 5a It can be seen that there is an overlapping area 504 between the initial cargo storage space and the obstacle 502 .

[0147] Accordingly, the mobile robot needs to identify the cargo placement area (i.e., the storage space 506 fed back by the sensor) and select a new target point, which is the center point of the target cargo placement space. Figure 5a If the obstacle 502 overlapping with the initial cargo placement space is located on the left side of the cargo placement space, the initial cargo placement space is moved to the right so that the left edge of the initial cargo placement space is adjacent to the right edge of the obstacle 502, and the initial cargo placement space after the move is the target cargo placement space. Then, the target cargo can be placed in the target cargo placement space, so that the target cargo is closest to the adjacent obstacle, and the cargo is placed close to the edge.

[0148] Based on the above processing, under the condition that the target goods and obstacles do not interfere with each other (i.e., no collision occurs), the target goods and obstacles are stored close to each other in a minimally adjusted manner, which can save the storage space of the target shelf and improve the utilization rate of the storage space.

[0149] In another implementation, the preset cargo placement strategy is: a storage location selection strategy based on minimizing the interference probability, that is, selecting a target cargo placement space that minimizes the interference between the target cargo and obstacles, that is, making the target cargo located in the middle of the available cargo placement space.

[0150] Accordingly, step S105 may include the following steps: when there are obstacles in the initial cargo placing space, determine a cargo placing space in the available cargo placing space that is larger than the size of the target cargo and enables the target cargo to be located in the middle of the available cargo placing space, thereby obtaining a target cargo placing space.

[0151] For example, see Figure 5b, the shelf area 501 is the space for placing goods in the upper cargo storage layer of the target shelf. The storage space 506 fed back by the sensor is the space for placing goods. The carrier 505 represents the target goods. The target storage space 503 is the initial cargo placement space. The target storage space has been invaded, which means that there is an obstacle 502 in the initial cargo placement space, and the goods cannot be placed normally. Figure 5b It can be seen that there is an overlapping area 504 between the initial cargo storage space and the obstacle 502 .

[0152] The mobile robot needs to select a new target point based on the identified cargo placement area (i.e., the storage space 506 fed back by the sensor). The new target point is the center point of the target cargo placement space. The center point of the cargo placement space is used as the center point of the target cargo placement space, and the target cargo placement space is determined based on the center point and is larger than the size of the target cargo. Then, the target cargo is placed in the target cargo placement space, so that the target cargo is located in the cargo placement space in the middle of the cargo placement space, completing the center placement.

[0153] Based on the above processing, the center point of the available cargo space is used as the center point of the target cargo space, so that the target cargo can be stored in the center of the cargo space to ensure that the distance between the target cargo and adjacent obstacles is maximized, thereby improving the safety of industrial production.

[0154] In another implementation, the preset delivery strategy is: a custom storage location selection strategy. The custom storage location selection strategy is a storage location selection strategy set by the user according to business needs, that is, the user can choose to store the target goods on the left, right or center of the delivery space.

[0155] Accordingly, step S105 may include the following steps: in the case where there are obstacles in the initial cargo placement space, according to the custom storage location selection strategy, in the cargo placement space, a cargo placement space larger than the size of the target cargo is determined to obtain the target cargo placement space. The custom storage location selection strategy includes any one of the following: a strategy that the target cargo is close to the left side of the cargo placement space, a strategy that the target cargo is close to the right side of the cargo placement space, and a strategy that the target cargo is located in the middle of the cargo placement space.

[0156] When the custom storage location selection strategy is a strategy in which the target cargo is close to the left side of the available cargo placement space, the initial cargo placement space is moved in a direction away from the obstacle overlapping with the initial cargo placement space until the initial cargo placement space does not overlap with the obstacle and the left edge of the initial cargo placement space coincides with the left edge of the available cargo placement space. The initial cargo placement space after the move is the target cargo placement space, and the target cargo can be placed on the left side of the available cargo placement space.

[0157] When the custom storage location selection strategy is a strategy in which the target cargo is located in the middle of the available cargo space, the center point of the available cargo space is used as the center point of the target cargo space, and the target cargo space is determined based on this center point and has a size larger than the size of the target cargo, so that the target cargo can be placed in the middle of the available cargo space.

[0158] When the custom storage location selection strategy is a strategy in which the target cargo is close to the right side of the available cargo placement space, the initial cargo placement space is moved in a direction away from the obstacle overlapping with the initial cargo placement space until the initial cargo placement space does not overlap with the obstacle and the right edge of the initial cargo placement space coincides with the right edge of the available cargo placement space. The moved initial cargo placement space is the target cargo placement space, and the target cargo can be placed on the right side of the available cargo placement space.

[0159] For example, see Figure 5c , the shelf area 501 is the space for placing goods in the upper cargo storage layer of the target shelf. The storage space 506 fed back by the sensor is the space for placing goods. The carrier 505 represents the target goods. The target storage space 503 is the initial cargo placement space. The target storage space has been invaded, which means that there is an obstacle 502 in the initial cargo placement space, and the goods cannot be placed normally. Figure 5c It can be seen that there is an overlapping area 504 between the initial cargo storage space and the obstacle 502 .

[0160] Accordingly, the mobile robot needs to select a new target point based on the identified cargo-placing area (ie, the storage space 506 fed back by the sensor), and the new target point is the center point of the target cargo-placing space. Figure 5c In the example, the custom storage location selection strategy is to place the target cargo close to the right side of the cargo placement space. If the obstacle 502 overlapping with the initial cargo placement space is located on the left side, the initial cargo placement space is moved to the right so that the right edge of the initial cargo placement space is moved to coincide with the right edge of the cargo placement space, and the initial cargo placement space after the movement is the target cargo placement space. Then, the target cargo can be placed in the target cargo placement space, so that the target cargo can be placed on the right side of the cargo placement space, and the cargo placement on the right side is completed.

[0161] Based on the above processing, the target cargo placement space is determined according to the customized storage location selection strategy corresponding to the user's cargo pick-up and placement business, so that the user can configure the storage location selection strategy according to the actual pick-up and placement business, meet user needs, and improve user experience.

[0162] In some embodiments, step S106 may include the following steps: using the center point of the target cargo storage space in the cargo storage layer in the target shelf as the center point of the bottom surface of the target cargo, and moving based on the angle between the orientation of the mobile robot and the target shelf, and the distance between the center point of the bottom surface of the target cargo and the center point of the mobile robot, so as to store the target cargo in the target cargo space.

[0163] The center point of the target cargo placement space in the cargo storage layer in the target shelf is used as the center point of the bottom surface of the target cargo, so that the target cargo placement space is aligned with the center point of the target cargo. In addition, since the position of the target cargo on the mobile robot is fixed, the relative position between the center point of the target cargo and the center point of the mobile robot is fixed, and the relative position can be represented by the distance between the center point of the cargo and the center point of the mobile robot on the horizontal plane where the cargo storage layer in the target shelf is located. Accordingly, based on the center point of the target cargo placement space in the cargo storage layer in the target shelf, and the distance between the center point of the target cargo and the center point of the mobile robot, the center point of the mobile robot after the move can be calculated.

[0164] Accordingly, the mobile robot moves toward the target goods so that the center point of the mobile robot after the movement coincides with the calculated center point, and the goods are placed. In addition, when the orientation of the mobile robot is not perpendicular to the target shelf, the mobile robot cannot place the target goods on the target shelf. For example, when the orientation of the mobile robot is parallel to the target shelf, the mobile robot cannot place the target goods on the target shelf. Accordingly, during the movement of the mobile robot, the angle between the orientation of the mobile robot and the target shelf is adjusted so that when the center point of the mobile robot after the movement coincides with the calculated center point, the orientation of the mobile robot placing the goods is perpendicular to the target shelf, and the target goods can be placed in the target placing space.

[0165] Based on the above processing, the center point of the target cargo storage space in the cargo storage layer of the target shelf is used as the center point of the bottom surface of the target cargo. During the movement, the orientation of the mobile robot is adjusted to store the cargo where there is no target cargo storage space and there is no collision with obstacles, thereby improving the safety of industrial production.

[0166] In some embodiments, after step S106, the method may further include the following step: sending the center point of the target cargo release space to the scheduling platform, so that the scheduling platform records that the target cargo is stored in the target cargo release space.

[0167] After the mobile robot places the target cargo in the target cargo space, the mobile robot sends the center point of the target cargo space to the dispatching platform. Accordingly, the calling platform can record that the target cargo is placed in the target cargo space to which the center point belongs. Later, when the mobile robot continues to place other cargo, the dispatching platform can avoid sending the target cargo space for the cargo that has been placed to the mobile robot, further improving the safety of industrial production.

[0168] See also Figure 6 , Figure 6The flowchart of a method for placing goods provided in an embodiment of the present application is shown in FIG. The method is applied to a mobile robot, and in this embodiment, the mobile robot is a forklift robot as an example for description, and the forklift robot communicates with the dispatching platform.

[0169] When the forklift robot is performing the handling task, the dispatching platform sends the waiting point and the route to the waiting point to the forklift robot. The forklift robot moves to the waiting point according to the received route and returns a feedback message to the dispatching platform that it has moved to the waiting point. When the dispatching platform determines that the forklift robot has moved to the waiting point based on the feedback message, it sends the target point in the cargo storage layer of the target shelf to the forklift robot.

[0170] After receiving the target point, the forklift robot detects the vicinity of the target point through sensors and outputs the available cargo space, which is a two-dimensional area in the horizontal plane where the cargo storage layer of the target shelf is located. The forklift robot determines whether the available cargo space is sufficient based on the size of the carrier (i.e. the size of the target cargo) and the size of the available cargo space, that is, whether the size of the available cargo space is not less than the size of the target cargo.

[0171] When the available cargo space is insufficient, that is, when the size of the cargo space is smaller than the size of the target cargo, it is determined that the cargo cannot be placed, and the forklift robot outputs an alarm message indicating that the cargo cannot be placed.

[0172] If there is enough space for cargo placement, that is, the size of the cargo placement space is not less than the size of the target cargo, it is determined that the cargo can be placed, and then it is further determined whether the initial cargo placement space to which the target point issued by the scheduling platform belongs is invaded, that is, whether there are obstacles in the initial cargo placement space. If the initial cargo placement space is not invaded, the target cargo is directly placed in the initial cargo placement space.

[0173] If the initial cargo placement space is invaded, the corresponding cargo placement strategy is selected and the cargo placement is performed according to the selected cargo placement strategy. That is, a storage location selection strategy is selected and, according to the storage location selection strategy, a target cargo placement space that does not collide with obstacles and meets the size of the target cargo is determined from the available cargo placement space, and the target cargo is stored in the target cargo placement space. For example, cargo is placed close to the edge of the identified available cargo placement space.

[0174] Compared with the related art of releasing goods according to the initial loading space to which the target point issued by the scheduling platform belongs (commonly known as "blind loading"), it cannot adapt to the complex working conditions of human-machine cooperation, thus creating safety hazards. The loading method provided in the embodiment of the present application identifies the available loading space for judgment. When the size of the available loading space is smaller than the size of the target goods, an alarm message is output, which can avoid possible scratches and collisions during the loading process. When the size of the available loading space is not smaller than the size of the target goods, the initial loading space is checked to determine whether the initial loading space is invaded. Furthermore, when the initial loading space is not invaded, the target goods are directly stored in the initial loading space. When the initial loading space is invaded and there is enough available loading space, a suitable target loading space is selected autonomously for loading, so that the storage space of the target shelf can be used reasonably and efficiently.

[0175] See also Figure 7 , Figure 7 A flowchart of a method for placing goods provided in an embodiment of the present application, the method is applied to a mobile robot, a sensor is installed on the mobile robot, and the method may include the following steps:

[0176] S701: Receive the waiting point of the mobile robot sent by the scheduling platform.

[0177] S702: After moving to the waiting point, the cargo storage layer of the target shelf is detected by using a sensor to obtain the free cargo storage space in the target shelf.

[0178] S703: Determine a target cargo placement space from the available cargo placement spaces that does not collide with obstacles and meets the size of the target cargo.

[0179] S704: Storing the target cargo in the target cargo storage space.

[0180] Based on the cargo placement method provided in the embodiment of the present application, it is possible to detect the free cargo placement space in the target shelf, and determine the target cargo placement space that does not collide with obstacles and meets the size of the target cargo from the cargo placement space, and then store the target cargo in the target cargo placement space to avoid collision between the target cargo and obstacles, thereby improving the safety of industrial production.

[0181] For step S701, the mobile robot may be a robot used to carry goods in the industrial generation scene, such as a forklift robot. The mobile robot is equipped with a sensor, which may be a two-dimensional laser radar or a three-dimensional laser radar. Figure 2a and Figure 2b Related introduction of .

[0182] The mobile robot communicates with the dispatching platform. The dispatching platform is used to uniformly manage multiple cargo storage tasks. When the target cargo needs to be stored on the target shelf, the dispatching platform sends the mobile robot a waiting point. The waiting point is in front of the target shelf and at a specified distance from the target shelf. The specified distance is the distance at which both side beams of the target shelf are within the detection range of the sensor and the fork of the mobile robot does not collide with the target shelf.

[0183] The dispatching platform can also send the size of the target goods, the goods storage layer of the target goods in the target shelf, and the route from the current stop position of the mobile robot to the waiting point to the mobile robot.

[0184] After the mobile robot moves to the waiting point according to the received route, if the sensor is a two-dimensional laser radar, the fork is controlled to rise to the height of the cargo storage layer of the target shelf, so that the cargo storage layer is within the detection range of the sensor, and the sensor is used to detect the cargo storage layer. If the sensor is a three-dimensional laser radar, the sensor is directly used to detect the target shelf. Then, based on the detection data of the sensor, the free space in the cargo storage layer of the target shelf that can be placed is obtained.

[0185] In some embodiments, Figure 7 Based on Figure 8 , step S702 may include the following steps:

[0186] S7021: Use sensors to detect the cargo storage layer of the target shelf to obtain the position of the horizontal beam, the position of the vertical beam, and the position of the placed cargo on the cargo storage layer of the target shelf.

[0187] S7022: Based on the position of the horizontal beam and the position of the vertical beam, obtain the total cargo storage space for cargo storage in the cargo storage layer of the target shelf.

[0188] S7023: In the total cargo placement space, determine the cargo placement space excluding the cargo that has been placed, and obtain the free cargo placement space in the target shelf.

[0189] See also Fig. 9 When the sensor is used to detect the cargo storage layer of the target shelf, the position of the horizontal beam 901, the position of the vertical beam 902, and the position of the placed cargo 903 of the cargo storage layer of the target shelf can be obtained. Accordingly, the space formed between the horizontal beam 901 and the vertical beam 902 is the total cargo storage space for placing cargo in the cargo storage layer of the target shelf.

[0190] If cargo 903 has been placed in the total cargo placement space, then the cargo placement space other than the placed cargo 903 is the free cargo placement space in the total cargo placement space, that is, Fig. 9The area to the right of the placed cargo 903 is available for cargo placement.

[0191] In some embodiments, Figure 7 Based on Fig.10 , step S703 may include the following steps:

[0192] S7031: Detect whether there is a vertical beam of the target shelf within a preset distance of the target edge of the available cargo space.

[0193] The target edge includes a left edge and / or a right edge of the cargo space.

[0194] S7032: If a vertical beam of the target shelf exists within a preset distance of the target edge of the available cargo placement space, a cargo placement space having the target edge of the available cargo placement space as a starting edge and being larger than the size of the target cargo is determined from the available cargo placement space to obtain the target cargo placement space.

[0195] S7033: Determine the cargo placement space other than the determined target cargo placement space in the cargo placement space, obtain a new cargo placement space, and return to execute the step of detecting whether there is a vertical beam of the target shelf within a preset distance from the target edge of the cargo placement space.

[0196] S7034: If there is no vertical beam of the target shelf within the preset distance of the target edge of the available cargo space, the available cargo space is evenly divided into a plurality of target cargo spaces larger than the size of the target cargo according to the size of the target cargo.

[0197] The preset distance is set according to the requirements. For example, the preset distance may be 100 mm, or the preset distance may be 200 mm, etc.

[0198] The mobile robot detects whether there is a vertical beam of a target shelf within a preset distance of a target edge of the cargo-placing space. The target edge includes a left edge and / or a right edge of the cargo-placing space.

[0199] If there is a vertical beam of the target shelf within a preset distance from the left edge of the available cargo space, the left edge of the available cargo space is taken as the starting edge and extended into the available cargo space according to the size of the target cargo, to determine a cargo space that is larger than the size of the target cargo, and obtain a target cargo space on the left side of the available cargo space.

[0200] If there is a vertical beam of the target shelf within a preset distance from the right edge of the available cargo space, the right edge of the available cargo space is taken as the starting edge and extended into the available cargo space according to the size of the target cargo, to determine a cargo space that is larger than the size of the target cargo, and obtain a target cargo space on the right side of the available cargo space.

[0201] If there is a vertical beam of the target shelf within a preset distance between the right edge and the left edge of the available cargo space, then according to the above method, a target cargo space can be determined on the left side of the available cargo space, and a target cargo space can also be determined on the right side of the available cargo space.

[0202] Then, the free cargo placing space other than the determined target cargo placing space in the cargo placing space is determined to obtain a new cargo placing space. It is also detected whether there is a vertical beam of the target shelf within a preset distance of the target edge of the new cargo placing space. If there is no vertical beam of the target shelf within the preset distance of the target edge of the cargo placing space, the cargo placing space is directly divided into a plurality of target cargo placing spaces larger than the size of the target cargo according to the size of the target cargo.

[0203] like Fig. 9 Check whether there is a vertical beam of the target shelf within the preset distance of the right edge of the available cargo space. Fig. 9 Based on Fig.11a , taking the right edge of the cargo placement space as the starting edge and extending to the left according to the size of the target cargo, the target cargo placement space 904 is obtained.

[0204] Then, for the new cargo-placing space between the obstacle 903 (i.e., the placed cargo) and the target cargo-placing space 904, if there is no vertical beam of the target shelf within the preset distance of the two side edges of the cargo-placing space, then the new cargo-placing space between the obstacle 903 and the target cargo-placing space 904 is directly divided into two target cargo-placing spaces according to the size of the target cargo, and the obtained Fig.11b Target delivery space 905 and target delivery space 906 are shown.

[0205] In some embodiments, there are multiple target cargo delivery spaces. Accordingly, before step S704, the method may further include the following steps: selecting a target cargo delivery space from the multiple target cargo delivery spaces according to a preset storage location selection strategy.

[0206] The preset storage location selection strategy includes any of the following: a selection strategy where the target cargo is closest to the adjacent obstacle, a selection strategy where the target cargo is located in the middle of the cargo placement space, and a custom storage location selection strategy. The custom storage location selection strategy includes any of the following: a strategy where the target cargo is close to the left side of the cargo placement space, a strategy where the target cargo is close to the right side of the cargo placement space, and a selection strategy where the target cargo is located in the middle of the cargo placement space.

[0207] Accordingly, step S704 may include the following steps: storing the target cargo in the selected target cargo release space.

[0208] If there are multiple target cargo placement spaces determined in the above manner, the mobile robot can select a target cargo placement space from the multiple target cargo placement spaces according to a preset storage location selection strategy, and store the target cargo in the selected target cargo placement space.

[0209] When the preset storage location selection strategy is the selection strategy of the distance between the target cargo and the adjacent obstacles, the mobile robot selects the target cargo placement space with the closest distance between the edge and the adjacent obstacles from multiple target cargo placement spaces. For example, Fig.11b , select the target delivery space 906.

[0210] When the preset storage location selection strategy is a selection strategy in which the target cargo is located in the middle of the available cargo space, the mobile robot selects the target cargo space whose center point is closest to the center point of the available cargo space from among multiple target cargo spaces. Fig.11b , select the target delivery space 905.

[0211] When the preset storage location selection strategy is a custom storage location selection strategy, the custom storage location selection strategy selects the target cargo placement space. For example, when the custom storage location selection strategy is a strategy that the target cargo is close to the left side of the cargo placement space, the mobile robot selects the target cargo placement space close to the left side of the cargo placement space from multiple target cargo placement spaces. For example, Fig.11b , select the target delivery space 906.

[0212] When the custom storage location selection strategy is a strategy in which the target cargo is close to the right side of the available cargo space, the mobile robot selects the target cargo space close to the right side of the available cargo space from multiple target cargo spaces. For example, Fig.11b , select the target cargo delivery space 904.

[0213] When the custom storage location selection strategy is a selection strategy where the target cargo is located in the middle of the available cargo space, the mobile robot selects the target cargo space whose center point is closest to the center point of the available cargo space from multiple target cargo spaces. For example, Fig.11b , select the target delivery space 905.

[0214] In some embodiments, step S704 may include the following steps: using the center point of the target cargo storage space in the cargo storage layer in the target shelf as the center point of the bottom surface of the target cargo, and moving based on the angle between the orientation of the mobile robot and the target shelf, and the distance between the center point of the bottom surface of the target cargo and the center point of the mobile robot, so as to store the target cargo in the target cargo space.

[0215] The implementation of step S704 is similar to the implementation of step S106 in the aforementioned embodiment, and reference may be made to the relevant introduction of the aforementioned embodiment.

[0216] In some embodiments, after storing the target goods in the target cargo space, the mobile robot may also send the center point of the target cargo space to the scheduling platform. Accordingly, the calling platform may record that the target goods are stored in the target cargo space to which the center point belongs. Subsequently, when the mobile robot continues to store other goods, the scheduling platform may avoid sending the target cargo space for the stored goods to the mobile robot, thereby further improving the safety of industrial production.

[0217] and Figure 1 Corresponding to the method embodiment of Fig.12 , Fig.12 This is a structural diagram of a cargo release device provided in an embodiment of the present application. The device is applied to a mobile robot, a sensor is installed on the mobile robot, and the device includes:

[0218] The receiving module 1201 is used to receive the waiting point of the mobile robot and the target point in the cargo storage layer of the target shelf sent by the scheduling platform;

[0219] The available cargo space acquisition module 1202 is used to detect the neighborhood of the target point using the sensor after moving to the waiting point to obtain the available cargo space in the target shelf;

[0220] An initial cargo placement space acquisition module 1203 is used to determine an initial cargo placement space for storing the target cargo in the cargo storage layer on the target shelf based on the target point and the size of the target cargo;

[0221] The obstacle detection module 1204 is used to detect whether there is an obstacle in the initial cargo placing space based on the relative position relationship between the cargo placing space and the initial cargo placing space;

[0222] The target cargo placement space determination module 1205 is used to determine, from the available cargo placement spaces, a target cargo placement space that does not collide with the obstacle and meets the size of the target cargo if there is an obstacle in the initial cargo placement space;

[0223] The first cargo storage module 1206 is used to store the target cargo in the target cargo storage space.

[0224] Optionally, the obstacle detection module 1204 is specifically configured to determine that no obstacle exists in the initial cargo placing space when the entire initial cargo placing space belongs to the cargo placing space; and to determine that an obstacle exists in the initial cargo placing space when a portion of the initial cargo placing space belongs to the cargo placing space.

[0225] Optionally, the initial cargo placement space acquisition module 1203 is specifically configured to determine, in the cargo storage layer on the target shelf, a two-dimensional area with a target point as the center point, a width as the width of the target cargo, and a length as the length of the target cargo, to obtain the initial cargo placement space;

[0226] or,

[0227] In the cargo storage layer on the target shelf, determine a three-dimensional area whose target point is the center point of the bottom surface, whose width is the width of the target cargo, whose length is the length of the target cargo, and whose height is the height of the target cargo, to obtain the initial cargo placement space.

[0228] Optionally, the target cargo placement space determination module 1205 is specifically configured to determine, in the cargo placement space, a cargo placement space that is larger than the size of the target cargo and that makes the distance between the target cargo and an adjacent obstacle the shortest, to obtain the target cargo placement space;

[0229] or,

[0230] In the cargo placing space, determine a cargo placing space which is larger than the target cargo and enables the target cargo to be located in the middle of the cargo placing space, to obtain a target cargo placing space;

[0231] or,

[0232] According to the custom storage location selection strategy, a cargo placement space that is larger than the size of the target cargo is determined in the cargo placement space to obtain the target cargo placement space; wherein the custom storage location selection strategy includes any one of the following: a strategy in which the target cargo is close to the left side of the cargo placement space, a strategy in which the target cargo is close to the right side of the cargo placement space, and a strategy in which the target cargo is located in the middle of the cargo placement space.

[0233] Optionally, the device further comprises:

[0234] a cargo placing condition detection module, configured to determine that a cargo placing condition is satisfied when a size of the cargo placing space is not less than a size of the target cargo, before the obstacle detection module 1204 detects whether there is an obstacle in the initial cargo placing space based on the relative position relationship between the cargo placing space and the initial cargo placing space;

[0235] The obstacle detection module 1204 is specifically configured to detect whether there is an obstacle in the initial cargo placing space based on the relative position relationship between the cargo placing space and the initial cargo placing space when the cargo placing condition is met;

[0236] The device also includes:

[0237] The second cargo storage module is used to store the target cargo in the initial cargo release space when there is no obstacle in the initial cargo release space.

[0238] Optionally, the device further comprises:

[0239] The recording module is used to send the center point of the target cargo release space to the scheduling platform after the first cargo storage module 1206 executes to store the target cargo in the target cargo release space, so that the scheduling platform records that the target cargo is stored in the target cargo release space.

[0240] Optionally, the first cargo storage module 1206 is specifically used to use the center point of the target cargo storage space in the cargo storage layer in the target shelf as the center point of the bottom surface of the target cargo, and move based on the angle between the orientation of the mobile robot and the target shelf, and the distance between the center point of the bottom surface of the target cargo and the center point of the mobile robot, so as to store the target cargo in the target cargo storage space.

[0241] Optionally, the mobile robot is a forklift robot; the sensor is installed at the lower end of the fork of the forklift robot and rises or falls with the fork; the sensor detects the available space for cargo in the cargo storage layer in the target shelf; when the sensor is a two-dimensional laser radar, the available space for cargo is a two-dimensional area; when the sensor is a three-dimensional laser radar, the available space for cargo is a three-dimensional area.

[0242] The cargo placing device provided in the embodiment of the present application can detect whether there are obstacles in the initial cargo placing space. If there are obstacles in the initial cargo placing space, a target cargo placing space that does not collide with the obstacles and meets the size of the target cargo is determined from the cargo placing space, and the target cargo is stored in the target cargo placing space, thereby improving the safety of industrial production.

[0243] and Figure 7 Corresponding to the method embodiment of Fig.13 , Fig.13 This is a structural diagram of a cargo release device provided in an embodiment of the present application. The device is applied to a mobile robot, a sensor is installed on the mobile robot, and the device includes:

[0244] The receiving module 1301 is used to receive the waiting point of the mobile robot sent by the scheduling platform;

[0245] The available cargo space acquisition module 1302 is used to detect the cargo storage layer of the target shelf using the sensor after moving to the waiting point to obtain the available cargo space in the target shelf;

[0246] The target cargo placement space determination module 1303 is used to determine, from the cargo placement space, a target cargo placement space that does not collide with obstacles and meets the size of the target cargo;

[0247] The cargo storage module 1304 is used to store the target cargo in the target cargo storage space.

[0248] Optionally, the available cargo space acquisition module 1302 is specifically used to use the sensor to detect the cargo storage layer of the target shelf, and obtain the position of the horizontal beam, the position of the vertical beam, and the position of the placed cargo in the cargo storage layer of the target shelf; based on the position of the horizontal beam and the position of the vertical beam, obtain the total cargo space for placing cargo in the cargo storage layer of the target shelf; in the total cargo space, determine the cargo space excluding the placed cargo, and obtain the free available cargo space in the target shelf.

[0249] Optionally, the target cargo placing space determining module 1303 is specifically configured to detect whether there is a vertical beam of the target shelf within a preset distance of a target edge of the cargo placing space; wherein the target edge includes a left edge and / or a right edge of the cargo placing space; if there is a vertical beam of the target shelf within the preset distance of the target edge of the cargo placing space, determine a cargo placing space with the target edge of the cargo placing space as a starting edge and larger than the size of the target cargo from the cargo placing space to obtain the target cargo placing space; determine a cargo placing space other than the determined target cargo placing space in the cargo placing space to obtain a new cargo placing space, and return to execute the step of detecting whether there is a vertical beam of the target shelf within a preset distance of the target edge of the cargo placing space; if there is no vertical beam of the target shelf within the preset distance of the target edge of the cargo placing space, divide the cargo placing space into a plurality of target cargo placing spaces larger than the size of the target cargo according to the size of the target cargo.

[0250] Optionally, there are multiple target cargo delivery spaces;

[0251] The device also includes:

[0252] A target cargo placement space selection module is used to select a target cargo placement space from multiple target cargo placement spaces according to a preset storage location selection strategy before the cargo storage module 1304 executes to store the target cargo in the target cargo placement space; wherein the preset storage location selection strategy includes any one of the following: a selection strategy in which the target cargo is closest to an adjacent obstacle, a selection strategy in which the target cargo is located in the middle of the cargo placement space, and a user-defined storage location selection strategy; the user-defined storage location selection strategy includes any one of the following: a strategy in which the target cargo is close to the left side of the cargo placement space, a strategy in which the target cargo is close to the right side of the cargo placement space, and a selection strategy in which the target cargo is located in the middle of the cargo placement space;

[0253] The cargo storage module 1304 is specifically configured to store the target cargo in the selected target cargo storage space.

[0254] Optionally, the cargo storage module 1304 is specifically used to use the center point of the target cargo storage space in the cargo storage layer in the target shelf as the center point of the bottom surface of the target cargo, and move based on the angle between the orientation of the mobile robot and the target shelf, and the distance between the center point of the bottom surface of the target cargo and the center point of the mobile robot, so as to store the target cargo in the target cargo space.

[0255] Optionally, the mobile robot is a forklift robot; the sensor is installed at the lower end of the fork of the forklift robot and rises or falls with the fork; the sensor detects the available space for cargo in the cargo storage layer in the target shelf; when the sensor is a two-dimensional laser radar, the available space for cargo is a two-dimensional area; when the sensor is a three-dimensional laser radar, the available space for cargo is a three-dimensional area.

[0256] Based on the cargo placing device provided in the embodiment of the present application, it is possible to detect the free cargo placing space in the target shelf, and determine the target cargo placing space that does not collide with obstacles and meets the size of the target cargo from the cargo placing space, and then store the target cargo in the target cargo placing space to avoid collision between the target cargo and obstacles, thereby improving the safety of industrial production.

[0257] The present application also provides an electronic device, such as Fig.14 As shown, including:

[0258] Memory 1401, used for storing computer programs;

[0259] The processor 1402 is used to implement the steps of any of the above-mentioned methods for releasing goods when executing the program stored in the memory 1401.

[0260] In addition, the electronic device may further include a communication bus and / or a communication interface, and the processor 1402, the communication interface, and the memory 1401 communicate with each other via the communication bus.

[0261] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0262] The communication interface is used for communication between the above electronic device and other devices.

[0263] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0264] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0265] In another embodiment provided by the present application, a mobile robot system is further provided, comprising a data acquisition module and a processor; the data acquisition module comprises a sensor;

[0266] The data acquisition module is used to detect the cargo storage layer in the target shelf through the sensor to obtain the free cargo storage space in the target shelf;

[0267] The processor is used to execute any of the above steps of the method for releasing goods.

[0268] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned methods for releasing goods are implemented.

[0269] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any of the cargo release methods in the above embodiments.

[0270] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0271] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0272] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, electronic device, mobile robot system, computer-readable storage medium, and computer program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0273] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A method for releasing goods, characterized in that: The method is applied to a mobile robot, on which a sensor is installed, and the method comprises: Receiving the waiting point of the mobile robot and the target point in the cargo storage layer of the target shelf sent by the scheduling platform; After moving to the waiting point, the sensor is used to detect the neighborhood of the target point to obtain the free space for placing goods in the target shelf; Based on the target point and the size of the target goods, determining an initial cargo storage space for storing the target goods in the cargo storage layer on the target shelf; Based on the relative positional relationship between the cargo placing space and the initial cargo placing space, detecting whether there is an obstacle in the initial cargo placing space; In the case where there is an obstacle in the initial cargo placing space, determining a target cargo placing space from the available cargo placing spaces which does not collide with the obstacle and meets the size of the target cargo; The target cargo is stored in the target cargo release space.

2. The method according to claim 1, characterized in that: The detecting whether there is an obstacle in the initial cargo placing space based on the relative position relationship between the cargo placing space and the initial cargo placing space includes: In a case where the initial cargo placing space is entirely the cargo placing space, determining that no obstacle exists in the initial cargo placing space; In a case where a portion of the initial cargo placing space belongs to the cargo placing space, it is determined that an obstacle exists in the initial cargo placing space.

3. The method according to claim 1, characterized in that The determining, based on the target point and the size of the target goods, an initial cargo placement space for storing the target goods in the cargo storage layer on the target shelf comprises: In the cargo storage layer on the target shelf, determine a two-dimensional area with the target point as the center point, the width as the width of the target cargo, and the length as the length of the target cargo, to obtain the initial cargo placement space; or, In the cargo storage layer on the target shelf, determine a three-dimensional area whose target point is the center point of the bottom surface, whose width is the width of the target cargo, whose length is the length of the target cargo, and whose height is the height of the target cargo, to obtain the initial cargo placement space.

4. The method according to claim 1, characterized in that: The step of determining, from the available cargo placement spaces, a target cargo placement space that does not collide with obstacles and meets the size of the target cargo comprises: In the cargo placing space, determine a cargo placing space which is larger than the target cargo and makes the target cargo closest to an adjacent obstacle, to obtain a target cargo placing space; or, In the cargo placing space, determine a cargo placing space which is larger than the target cargo and enables the target cargo to be located in the middle of the cargo placing space, to obtain a target cargo placing space; or, According to the custom storage location selection strategy, a cargo placement space that is larger than the size of the target cargo is determined in the cargo placement space to obtain the target cargo placement space; wherein the custom storage location selection strategy includes any one of the following: a strategy in which the target cargo is close to the left side of the cargo placement space, a strategy in which the target cargo is close to the right side of the cargo placement space, and a strategy in which the target cargo is located in the middle of the cargo placement space.

5. The method according to claim 1, characterized in that Before detecting whether there is an obstacle in the initial cargo placing space based on the relative position relationship between the cargo placing space and the initial cargo placing space, the method further includes: When the size of the cargo-placing space is not less than the size of the target cargo, determining that the cargo-placing condition is met; The detecting whether there is an obstacle in the initial cargo placing space based on the relative position relationship between the cargo placing space and the initial cargo placing space includes: When the cargo release condition is met, based on the relative position relationship between the cargo release space and the initial cargo release space, detecting whether there is an obstacle in the initial cargo release space; The method further comprises: When there is no obstacle in the initial cargo release space, the target cargo is stored in the initial cargo release space.

6. The method according to claim 1, characterized in that After storing the target cargo in the target cargo release space, the method further includes: The center point of the target cargo release space is sent to the scheduling platform, so that the scheduling platform records that the target cargo is stored in the target cargo release space.

7. The method according to claim 1, characterized in that The step of storing the target cargo in the target cargo release space includes: The center point of the target cargo placement space in the cargo storage layer in the target shelf is used as the center point of the bottom surface of the target cargo. The mobile robot moves based on the angle between the orientation of the mobile robot and the target shelf, and the distance between the center point of the bottom surface of the target cargo and the center point of the mobile robot, so as to store the target cargo in the target cargo placement space.

8. The method according to any one of claims 1 to 7, characterized in that: The mobile robot is a forklift robot; the sensor is installed at the lower end of the fork of the forklift robot and is raised or lowered with the fork; the sensor detects the cargo space in the cargo storage layer of the target shelf; When the sensor is a two-dimensional laser radar, the cargo space is a two-dimensional area; when the sensor is a three-dimensional laser radar, the cargo space is a three-dimensional area.

9. A method for releasing goods, characterized in that: The method is applied to a mobile robot, on which a sensor is installed, and the method comprises: Receiving the waiting point of the mobile robot sent by the scheduling platform; After moving to the waiting point, the sensor is used to detect the cargo storage layer of the target shelf to obtain the free cargo storage space in the target shelf; Determine, from the available cargo placement spaces, a target cargo placement space that does not collide with obstacles and meets the size of the target cargo; The target cargo is stored in the target cargo release space.

10. The method according to claim 9, characterized in that The method of using the sensor to detect the cargo storage layer of the target shelf to obtain the free cargo storage space in the target shelf includes: Using the sensor to detect the cargo storage layer of the target shelf, obtain the position of the horizontal beam, the position of the vertical beam, and the position of the placed cargo on the cargo storage layer of the target shelf; Based on the position of the horizontal beam and the position of the vertical beam, a total cargo storage space for cargo storage in the cargo storage layer of the target shelf is obtained; In the total cargo placement space, cargo placement space excluding the placed cargo is determined to obtain the free cargo placement space in the target shelf.

11. The method according to claim 10, characterized in that The step of determining a target cargo placement space from the cargo placement space that does not collide with obstacles and meets the size of the target cargo includes: Detecting whether there is a vertical beam of the target shelf within a preset distance from a target edge of the cargo-placing space; wherein the target edge includes a left edge and / or a right edge of the cargo-placing space; If there is a vertical beam of the target shelf within a preset distance from the target edge of the cargo placing space, determine a cargo placing space with the target edge of the cargo placing space as a starting edge and larger than the size of the target cargo from the cargo placing space, and obtain the target cargo placing space; Determine the cargo placing space other than the determined target cargo placing space in the cargo placing space, obtain a new cargo placing space, and return to the step of detecting whether there is a vertical beam of the target shelf within a preset distance from the target edge of the cargo placing space; If there is no vertical beam of the target shelf within a preset distance from the target edge of the cargo-placing space, the cargo-placing space is divided into a plurality of target cargo-placing spaces larger than the size of the target cargo according to the size of the target cargo.

12. The method according to claim 9, characterized in that There are multiple target cargo release spaces; Before storing the target cargo in the target cargo release space, the method further includes: According to the preset storage location selection strategy, a target storage space is selected from multiple target storage spaces; The preset storage location selection strategy includes any one of the following: a selection strategy in which the target cargo is closest to an adjacent obstacle, a selection strategy in which the target cargo is located in the middle of the cargo-placing space, and a custom storage location selection strategy; the custom storage location selection strategy includes any one of the following: a strategy in which the target cargo is close to the left side of the cargo-placing space, a strategy in which the target cargo is close to the right side of the cargo-placing space, and a selection strategy in which the target cargo is located in the middle of the cargo-placing space; The step of storing the target cargo in the target cargo release space includes: The target cargo is stored in the selected target cargo delivery space.

13. The method according to claim 9, characterized in that The step of storing the target cargo in the target cargo release space includes: The center point of the target cargo placement space in the cargo storage layer in the target shelf is used as the center point of the bottom surface of the target cargo. The mobile robot moves based on the angle between the orientation of the mobile robot and the target shelf, and the distance between the center point of the bottom surface of the target cargo and the center point of the mobile robot, so as to store the target cargo in the target cargo placement space.

14. The method according to any one of claims 9 to 13, characterized in that: The mobile robot is a forklift robot; the sensor is installed at the lower end of the fork of the forklift robot and is raised or lowered with the fork; the sensor detects the cargo space in the cargo storage layer of the target shelf; When the sensor is a two-dimensional laser radar, the cargo space is a two-dimensional area; when the sensor is a three-dimensional laser radar, the cargo space is a three-dimensional area.

15. A cargo releasing device, characterized in that: The device is applied to a mobile robot, on which a sensor is installed, and the device comprises: A receiving module, used for receiving the waiting point of the mobile robot and the target point in the cargo storage layer of the target shelf sent by the scheduling platform; A cargo space acquisition module is used to detect the neighborhood of the target point using the sensor after moving to the waiting point to obtain the free cargo space in the target shelf; An initial cargo placement space acquisition module, used to determine an initial cargo placement space for storing the target cargo in the cargo storage layer on the target shelf based on the target point and the size of the target cargo; An obstacle detection module, configured to detect whether there is an obstacle in the initial cargo placing space based on the relative position relationship between the cargo placing space and the initial cargo placing space; a target cargo placement space determination module, configured to determine, from the available cargo placement space, a target cargo placement space that does not collide with the obstacle and meets the size of the target cargo if there is an obstacle in the initial cargo placement space; The first cargo storage module is used to store the target cargo in the target cargo storage space.

16. A cargo releasing device, characterized in that: The device is applied to a mobile robot, on which a sensor is installed, and the device comprises: A receiving module, used for receiving the waiting point of the mobile robot sent by the scheduling platform; A cargo space acquisition module is used to detect the cargo storage layer of the target shelf using the sensor after moving to the waiting point to obtain the free cargo space in the target shelf; A target cargo placement space determination module is used to determine a target cargo placement space that does not collide with obstacles and meets the size of the target cargo from the cargo placement space; The cargo storage module is used to store the target cargo in the target cargo storage space.

17. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing the method described in any one of claims 1 to 8, or the method described in any one of claims 9 to 14, when executing a program stored in a memory.

18. A mobile robot system, characterized in that: It includes a data acquisition module and a processor; the data acquisition module includes a sensor; The data acquisition module is used to detect the cargo storage layer in the target shelf through the sensor to obtain the free cargo storage space in the target shelf; The processor is used to execute the method steps described in any one of claims 1-8, or the method steps described in any one of claims 9-14.

19. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of claims 1 to 8 or the method described in any one of claims 9 to 14 is implemented.

Images