Carrying control method, device and system and computer readable storage medium

Abstract

The invention discloses a carrying control method, device and system and a computer readable storage medium, and relates to the field of intelligent logistics. The carrying control method comprises the steps that a first image, collected by carrying equipment located at a first target position, of a to-be-carried object is obtained; determining first deviation information of the object relative to the first target position according to the position of a specified identifier on the object in the first image; according to the first deviation information, indicating the carrying equipment to adjust the pose; and instructing the carrying equipment to carry the object to the second target position. Therefore, the carrying equipment with the pose adjusted can obtain the object more accurately, the risk that the object is overturned in the object carrying process and when the object is placed can be further reduced, and the carrying control accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the field of logistics technology, and in particular to a transport control method, device, system and computer-readable storage medium. Background Art

[0002] In automated warehouses, automated guided vehicles (AGVs) can be used to transport objects such as pallets. In some scenarios, AGVs need to be connected to other automated equipment such as forklifts. For example, a forklift can place a pallet on a rack, and an AGV can take the pallet from the rack and transport it to another location. Summary of the invention

[0003] After analysis, the inventor found that during the docking process, there are certain requirements for the position of the pallet, because the forks of the forklift and stacker need to be inserted into the pallet to pick up and place the pallet. If the position is inaccurate, there will be a risk of cargo tipping over during subsequent automated equipment handling, or even the equipment will report an error and fail to pick up the pallet. In addition, when the AGV transports the pallet, within a certain tolerance range, the pallet also needs to be in the center of the AGV as much as possible, otherwise there will be a risk of cargo tipping over.

[0004] The above risks of pallets come from errors in the handling process. The error may be small each time, but the accumulated errors after frequent handling will have adverse consequences.

[0005] A technical problem to be solved by the embodiments of the present invention is: how to reduce the error generated during the object handling process.

[0006] According to a first aspect of some embodiments of the present invention, there is provided a transport control method, comprising: acquiring a first image of an object to be transported, which is captured by a transport device located at a first target position; determining first deviation information of the object relative to the first target position based on the position of a designated mark on the object in the first image; instructing the transport device to adjust its posture based on the first deviation information; and instructing the transport device to transport the object to a second target position.

[0007] In some embodiments, determining first deviation information of an object relative to a first target position based on the position of a designated mark on the object in the first image includes: determining the first deviation information based on the deviation between the position of the designated mark on the object in the first image and the first designated position in the first image.

[0008] In some embodiments, determining the first deviation information based on the deviation between the position of a designated mark on the object in the first image and the first designated position in the first image includes: determining the first position deviation based on the deviation between the position of the designated mark on the object in the first image and the first designated position; determining the first direction deviation based on the deviation between the direction of the designated mark on the object in the first image and one or more first designated directions in the first image; determining the first deviation information based on the first position deviation and the first direction deviation.

[0009] In some embodiments, determining first deviation information of an object relative to a first target position based on a position of a designated mark on the object in the first image includes: determining the first deviation information based on a deviation between a position of the designated mark on the object in the first image and a position of the designated mark in a first reference image, wherein the first reference image is an image captured by the transport equipment when a relative position deviation between the transport equipment and the object is within a specified range.

[0010] In some embodiments, instructing the transport device to adjust its posture according to the first deviation information includes: instructing the transport device to adjust its posture according to the first deviation information so that the relative position deviation between the transport device and the object is within a specified range.

[0011] In some embodiments, instructing the transport device to transport the object to the second target position includes: sending an object acquisition instruction to the transport device; sending a return instruction to the transport device, wherein the return instruction is used to instruct the transport device to return to the first target position; sending a move instruction to the transport device, wherein the move instruction is used to instruct the transport device to move to the second target position.

[0012] In some embodiments, the handling device determines its own position and posture according to the ground identification code, and the first deviation information is the deviation information of the object relative to the ground identification code at the first target position.

[0013] According to a second aspect of some embodiments of the present invention, there is provided a transport control method, comprising: acquiring a second image of an object to be unloaded, which is captured by a transport device located at a second target position, wherein the object is located on the transport device; determining second deviation information of the object relative to the second target position based on the position of a designated mark on the object in the second image; instructing the transport device to adjust its posture based on the second deviation information; and instructing the transport device to place the object at the second target position.

[0014] In some embodiments, determining second deviation information of an object relative to a second target position based on the position of a designated mark on the object in the second image includes: determining the second deviation information based on the deviation between the position of the designated mark on the object in the second image and the second designated position in the second image.

[0015] In some embodiments, determining the second deviation information based on the deviation between the position of a designated mark on the object in the second image and a second designated position in the second image includes: determining the second position deviation based on the deviation between the position of the designated mark on the object in the second image and the second designated position; determining the second direction deviation based on the deviation between the direction of the designated mark on the object in the second image and one or more second designated directions in the second image; and determining the second deviation information based on the second position deviation and the second direction deviation.

[0016] In some embodiments, determining second deviation information of an object relative to a second target position based on the position of a designated mark on the object in the second image includes: determining the second deviation information based on the position of a designated mark on the object in the second image and a deviation between the position of the designated mark in a second reference image, wherein the second reference image is an image captured by the handling equipment when the relative position deviation between the handling equipment and the object is within a specified range.

[0017] In some embodiments, instructing the transport device to adjust the posture according to the second deviation information includes: instructing the transport device to adjust the posture according to the second deviation information so that the relative position deviation between the object and the second target position is within a specified range.

[0018] In some embodiments, the handling device determines its own position and posture according to the ground identification code, and the second deviation information is the deviation information of the object relative to the ground identification code at the second target position.

[0019] In some embodiments, the designated identifier is a structural feature of the object body.

[0020] In some embodiments, the designated mark is located at the bottom of the object, the object is placed on a carrying device, and the contact surface between the carrying device and the bottom of the object has an avoidance structure to reveal the designated mark.

[0021] In some embodiments, the object is a container for carrying cargo.

[0022] According to a third aspect of some embodiments of the present invention, there is provided a transport control device, comprising: an acquisition module, configured to acquire a first image of an object to be transported, which is captured by a transport device located at a first target position; a determination module, configured to determine first deviation information of the object relative to the first target position based on the position of a designated mark on the object in the first image; a posture adjustment indication module, configured to instruct the transport device to adjust the posture based on the first deviation information; and a transport indication module, configured to instruct the transport device to transport the object to a second target position.

[0023] According to a fourth aspect of some embodiments of the present invention, there is provided a transport control device, comprising: an acquisition module, configured to acquire a second image of an object to be unloaded, which is captured by a transport device located at a second target position, wherein the object is located on the transport device; a determination module, configured to determine second deviation information of the object relative to the second target position based on the position of a designated mark on the object in the second image; a posture adjustment indication module, configured to instruct the transport device to adjust the posture based on the second deviation information; and a placement indication module, configured to instruct the transport device to place the object at the second target position.

[0024] According to a fifth aspect of some embodiments of the present invention, there is provided a transport control device, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute any one of the aforementioned transport control methods based on instructions stored in the memory.

[0025] According to a sixth aspect of some embodiments of the present invention, there is provided a transport control system, comprising: any one of the aforementioned transport control devices; and transport equipment.

[0026] In some embodiments, the transport equipment includes a vehicle body and an upper structure that is liftably disposed on the top of the vehicle body, and the upper structure is used to hold up objects.

[0027] In some embodiments, the upper structure is rotatably disposed on the vehicle body in a horizontal plane.

[0028] In some embodiments, the transport control system further includes: a carrying device for carrying the object, and a contact surface between the carrying device and the bottom of the object has an avoidance structure to reveal a designated mark located at the bottom of the object.

[0029] In some embodiments, the support device includes a bracket.

[0030] In some embodiments, the carrying device includes two brackets arranged at an interval, each bracket has an overlapping surface for overlapping objects, and a passage for the transport equipment to pass through is formed between the two brackets.

[0031] According to a seventh aspect of some embodiments of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements any one of the aforementioned transport control methods.

[0032] Some embodiments of the above invention have the following advantages or beneficial effects. The handling device can determine the deviation of the object to be handled relative to the first target position with the help of the first image, and adjust its own posture based on the deviation. Therefore, the handling device after adjusting the posture can obtain the object more accurately, and can further reduce the risk of the object tipping over during the handling process and when placing the object, thereby improving the accuracy of the handling control.

[0033] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0035] Figure 1 A schematic flow chart of a transport control method according to some embodiments of the present invention is shown.

[0036] Figure 2 A schematic flow chart of a transport control method according to other embodiments of the present invention is shown.

[0037] Figure 3A and 3B A schematic diagram of a transport control scenario is shown.

[0038] Figure 4 A schematic top view of a carrying device implemented with brackets arranged at intervals is shown.

[0039] Figures 5A to 5D The schematic diagram exemplarily shows the process of a latent AGV acquiring a pallet.

[0040] Figures 5E to 5H A schematic diagram of the process of a latent AGV unloading a pallet is shown as an example.

[0041] Figure 6 A schematic structural diagram of a transport control device according to some embodiments of the present invention is shown.

[0042] Figure 7 The schematic diagrams of the structures of the transport control devices according to other embodiments of the present invention are shown.

[0043] Figure 8 A schematic structural diagram of a handling control system according to some embodiments of the present invention is shown.

[0044] Fig. 9 The schematic diagrams of the structures of the transport control devices according to some other embodiments of the present invention are shown.

[0045] Fig.10 The schematic diagrams of the structures of the transport control devices according to some further embodiments of the present invention are shown. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] The relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

[0048] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0049] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0050] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0051] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0052] After analysis, the inventor found that if mechanical structures, positioning mechanisms and other pick-and-place mechanisms are used to achieve pallet correction, the system cost will be increased, and the installation of such equipment will reduce the flexibility of the system, because when laying out the equipment in the warehouse, it is necessary to consider the docking method and docking position with other equipment. At the same time, such equipment will also reduce the efficiency of the entire system, because mechanical equipment is required to position the pallet every time, but in fact, not every handling has errors that need to be corrected.

[0053] Therefore, the present invention proposes a transport control method, device, system and computer-readable storage medium, which determine whether an object deviates from a target position through an inherent designated identifier of the object, and adjust the posture of the transport equipment when there is a deviation, so that the transport equipment can accurately pick up and place the object.

[0054] The following is an exemplary description of an embodiment of adjusting the posture of a transport device during transport. First, an image of an object captured by the transport device is obtained, and a designated mark is provided on the object; the designated mark in the image is identified; according to the position of the designated mark in the image, the deviation information of the object relative to the position of the transport device is determined; and according to the deviation information, the posture of the transport device is adjusted.

[0055] The handling equipment is, for example, an AGV, and may also be other types of equipment for handling goods as needed. An image acquisition device, such as a camera, a video camera, etc., is provided on the handling equipment. The handling equipment may acquire images according to instructions, for example, receiving an image acquisition instruction after reaching the target location; or, the handling equipment may acquire images periodically; or, the handling equipment may acquire images after performing a specified operation, such as stopping, starting, accelerating, decelerating, controlling the handling structure of the handling equipment, etc. Those skilled in the art may also acquire images in combination with a variety of methods.

[0056] In an embodiment of the present invention, the type of the object can be determined according to the needs of the scene. In some embodiments, the object to be transported is a container for loading goods, such as a pallet.

[0057] The object to be transported has a designated mark, and the relative position of the designated mark and the object is fixed. In some embodiments, the designated mark is a structural feature of the object body, such as the edge of a cover at the bottom of a tray, or a raised or recessed structure with a clear corner, etc. The local structural features of the object have at least two characteristics. First, since the structural features are features generated by the batch and template production of the object, the position of the structural features in the object is the same for different objects of the same type and model; second, the structural features of the object body are difficult to be affected by external forces during the transportation process and change. Therefore, by using the structural features of the object body as the designated mark, and using whether the designated mark has deviations in the image to determine whether the object has deviations relative to a specific position, the accuracy of error calibration can be improved.

[0058] After the posture adjustment of the transport device is performed based on the above embodiment, the transported object can be moved from the first target position to the second target position, or unloaded at the second target position. The following will exemplarily describe these two situations respectively.

[0059] Figure 1 FIG. 2 is a flow chart showing a method for controlling a transport according to some embodiments of the present invention. Figure 1 As shown, the transport control method of this embodiment includes steps S102 to S108.

[0060] In step S102, a first image of an object to be transported, which is captured by a transport device located at a first target position, is acquired.

[0061] The first target position refers to a standard placement position of the object to be transported, and the information of the position may be pre-stored for reading and navigation by the transport equipment, such as stored in a warehouse management system, a database, a mobile terminal or any transport equipment, and may also be stored in other equipment as needed. However, due to errors generated during the previous transport or unloading process, or due to collisions with other objects, there may be some deviations between the object to be transported and the first target position.

[0062] In step S104, first deviation information of the object relative to the first target position is determined according to the position of the designated mark on the object in the first image.

[0063] If there is a deviation between the position of the designated mark in the first image and the standard position of the designated mark in the first image, it means that there is a deviation between the object and the handling equipment, and further, there is a deviation with the position of the handling equipment. Therefore, in some embodiments, the first deviation information is determined based on the deviation between the position of the designated mark on the object in the first image and the first designated position. The first designated position is the position of the designated mark of the object in the first image, which is determined by pre-calculation or actual measurement, when there is no deviation or very small deviation in the placement of the object. For example, when it is expected that the object can be placed in the middle of the handling mechanism of the handling equipment, and the center of the camera and the handling mechanism are located in the same straight line perpendicular to the horizontal plane, the first designated position is the center of the first image.

[0064] In addition, when there is no deviation or a very small deviation in the placement of the object, the first image of the object can be captured by the handling device located at the first target position, and the position of the designated mark in the first image can be determined as the first designated position. In some embodiments, the first deviation information is determined based on the deviation between the position of the designated mark on the object in the first image and the position of the designated mark in the first reference image, wherein the first reference image is an image captured by the handling device when the relative position deviation between the handling device and the object is within a specified range.

[0065] In some embodiments, a first designated direction may be preset, and the deviation between the handling device and the first designated direction may be determined, so that the angle deviation is eliminated when the handling device adjusts its position. The first designated direction may also be obtained by pre-calculation or actual measurement. For example, when there is no deviation or a very small deviation in the placement of the object, a first image of the object may be captured by a handling device located at the first target position and in a direction that enables it to acquire the object, and the direction of the designated mark in the first image may be determined as the first designated direction. There may be one or more first designated directions. In some embodiments, the first position deviation is determined based on the deviation between the position of the designated mark on the object in the first image and the first designated position; the first direction deviation is determined based on the deviation between the direction of the designated mark on the object in the first image and one or more first designated directions in the first image; and the first deviation information is determined based on the first position deviation and the first direction deviation. By combining the position and direction, the current deviation information can be determined more accurately, thereby improving the accuracy of the handling control.

[0066] In some embodiments, the handling device determines its own position according to the ground identification code, and the first deviation information is the deviation information of the object relative to the ground identification code (also referred to as "ground code") at the first target position. For example, multiple ground codes can be deployed on the floor of the warehouse for positioning and navigation of the handling structure. The handling device can collect images through a camera with a shooting direction facing the ground, and identify the ground code in the collected image, thereby obtaining the current position information.

[0067] In step S106, the transport device is instructed to adjust its posture according to the first deviation information.

[0068] In some embodiments, the transport device is instructed to adjust its position according to the first deviation information so that the relative position deviation between the transport device and the object is within a specified range. The adjustment includes at least one of displacement adjustment and direction adjustment.

[0069] Considering that the distance between two objects in the image is smaller than the distance between two objects in the real world, the mapping relationship between the image coordinate system and the world coordinate system can be predetermined. When the first deviation information includes the first position deviation, the position to which the transport device should be adjusted is determined according to the mapping relationship, for example, moving 10 cm to the east. At this time, the adjustment can be made by rotating and displacing the transport device.

[0070] When the first deviation information includes the first direction information, the adjustment can be made, for example, by rotating the transport device. For example, in order to make the direction of the designated mark in the first image meet the conditions, the front of the transport device needs to be placed facing west.

[0071] It should be noted here that although both the adjustment according to the displacement deviation and the adjustment according to the direction deviation may involve the adjustment of the direction, the purpose of the former is to drive the transport device to the specified position, while the latter is to make the transport device face the correct direction. For example, when adjusting according to the first displacement deviation, the transport device moves 10 cm to the east, and the transport device may move with the front of the vehicle facing east; then, when adjusting according to the first direction deviation, the front of the vehicle is rotated to face west. Of course, the adjustment of position and direction can also be performed at the same time, which will not be described in detail in the present invention.

[0072] In step S108 , the transport device is instructed to transport the object to a second target location.

[0073] For example, the transport mechanism of the transport device is instructed to acquire the object, and after acquiring the object, the transport device is instructed to carry the object and move to the second target position.

[0074] In some embodiments, an object acquisition instruction is sent to the transport device; a return instruction is sent to the transport device, wherein the return instruction is used to instruct the transport device to return to the first target position; and a movement instruction is sent to the transport device, wherein the movement instruction is used to instruct the transport device to move to the second target position. When returning to the right position, an adjustment opposite to the posture adjustment in step S106 can be made. Thus, the transport device can be made to move along the preset route as much as possible, reducing additional risks such as collisions caused by changes in the route.

[0075] Of course, as needed, the transport device may also be instructed to move directly to the second target position after acquiring the object.

[0076] Through the above embodiment, the handling device can determine the deviation of the object to be handled relative to the first target position with the help of the first image, and adjust its own posture based on the deviation. Therefore, the handling device after adjusting the posture can more accurately obtain the object, and can further reduce the risk of the object tipping over during the handling process and when placing the object, thereby improving the accuracy of the handling control.

[0077] Even if the Figure 1 Although the embodiment accurately obtains the object, during the handling process, the object may still move slightly on the handling equipment due to factors such as acceleration, deceleration, steering, and external force collision. In order to minimize the error in each link, some embodiments of the present invention also provide an embodiment for controlling the handling equipment during the unloading process to reduce the error.

[0078] Figure 2 FIG. 2 is a flow chart showing a method for controlling a transport according to some other embodiments of the present invention. Figure 2As shown, the transport control method of this embodiment includes steps S202 to S208.

[0079] In step S202, a second image of the object to be unloaded, which is captured by the handling equipment located at the second target position, is acquired, wherein the object is located on the handling equipment.

[0080] The second target position refers to a standard placement position of the object to be unloaded, and similar to the first target position, the information of the position can also be pre-stored. However, due to handling errors or collisions with other objects, when the handling equipment carrying the object is located at the second target position, there may be some deviation between the object and the second target position.

[0081] In step S204, second deviation information of the object relative to the second target position is determined according to the position of the designated mark on the object in the second image.

[0082] If there is a deviation between the position of the designated mark in the second image and the standard position of the designated mark in the second image, it means that there is a deviation between the object and the second target position. Therefore, in some embodiments, the second deviation information is determined based on the position of the designated mark on the object in the second image and the deviation between the second designated position. The second designated position is the position of the designated mark of the object in the second image, which is determined by pre-calculation or actual measurement, when there is no deviation or very small deviation in the placement of the object on the handling equipment. For example, when the handling equipment is expected to reach the second target position, the object is located in the middle of the handling mechanism of the handling equipment, and the center of the camera and the handling mechanism are located in the same straight line perpendicular to the horizontal plane, and the second designated position is the center of the second image.

[0083] In addition, when there is no deviation or a very small deviation in the placement of the object, the second image of the object can be captured by the handling device located at the second target position, and the position of the designated mark in the second image can be determined as the second designated position. In some embodiments, the second deviation information is determined based on the deviation between the position of the designated mark on the object in the second image and the position of the designated mark in the second reference image, wherein the second reference image is an image captured by the handling device when the relative position deviation between the handling device and the object is within a specified range.

[0084] In some embodiments, a second designated direction can also be preset, and the deviation between the handling device and the second designated direction can be determined so that the angle deviation can be eliminated when the handling device adjusts its position. The second designated direction can also be obtained by pre-calculation or actual measurement. For example, when there is no deviation or a very small deviation in the placement of the object, a handling device located at the second target position and in a direction that enables it to unload the object can be used to capture a second image of the object, and the direction of the designated mark in the second image is determined as the second designated direction. There can be one or more second designated directions. In some embodiments, the second position deviation is determined based on the deviation between the position of the designated mark on the object in the second image and the second designated position; the second direction deviation is determined based on the deviation between the direction of the designated mark on the object in the second image and the one or more second designated directions in the second image; the second deviation information is determined based on the second position deviation and the second direction deviation. By combining the position and direction, the current deviation information can be determined more accurately, thereby improving the accuracy of the handling control.

[0085] In some embodiments, the second deviation information is deviation information of the object relative to a ground identification code at the second target location.

[0086] In step S206, the transport device is instructed to adjust its posture according to the second deviation information.

[0087] In some embodiments, the transport device is instructed to adjust its position according to the second deviation information so that the relative position deviation between the transport device and the second target position is within a specified range. The adjustment includes at least one of displacement adjustment and direction adjustment.

[0088] Similar to the adjustment according to the first deviation information, the mapping relationship between the image coordinate system and the world coordinate system can be predetermined. When the second deviation information includes the second position deviation, the position to which the handling device should be adjusted is determined according to the mapping relationship.

[0089] When the second deviation information includes the second direction information, adjustment can be performed, for example, by rotating the transport device.

[0090] In step S208, the transport device is instructed to place the object at the second target location.

[0091] For example, the transport mechanism of the transport device is instructed to place the object at the second target position.

[0092] In some embodiments, after the transport device unloads the object, a return instruction is sent to the transport device, wherein the return instruction is used to instruct the transport device to return to the second target position. When returning to the right position, an adjustment opposite to the posture adjustment in step S206 can be made. Thus, the transport device can be returned to a predetermined position to advance to the next target position according to the positioning and navigation information. As needed, the transport device can also be instructed to move directly to the next target position after unloading the object.

[0093] Through the above embodiment, the handling device can determine the deviation of the object to be unloaded relative to the second target position with the help of the second image, and adjust its own posture based on the deviation. Therefore, the handling device after adjusting the posture can place the object more accurately, and can further reduce the risk of the object being carried again later, thereby improving the accuracy of handling control.

[0094] And, combined with Figure 1 and Figure 2 The embodiment can reduce the handling error in each link, thereby improving the accuracy of handling control as a whole.

[0095] A transport control scenario is described below by way of example.

[0096] In some embodiments, the designated mark is located at the bottom of the object, the object is placed on a carrying device, and the contact surface between the carrying device and the bottom of the object has an avoidance structure to reveal the designated mark.

[0097] This situation is applicable to handling equipment that can lurk at the bottom of the carrying device, such as a lurk-type AGV. At this time, the handling equipment has a camera with an upward shooting direction, so that the designated mark at the bottom of the object can be photographed.

[0098] In some embodiments, the support device includes a bracket.

[0099] Figure 3A and 3B The schematic diagram of the transport control scenario is shown in FIG. Figure 3A As shown, the tray 31 is placed on the bracket 32; Figure 3B In the embodiment, the latent AGV 33 moves under the bracket 33 to obtain the object.

[0100] In some embodiments, the transport equipment includes a vehicle body and an upper structure that is liftably disposed on the top of the vehicle body, and the upper structure is used to hold up objects.

[0101] For example, the bearing device is a bracket with a hollowed-out bearing surface, and the hollowed-out portion can reveal a designated logo.

[0102] For another example, the carrying device includes two brackets arranged at an interval, each bracket has an overlapping surface for overlapping objects, and a passage for the transport equipment to pass through is formed between the two brackets. Figure 4 The top view of the carrying device implemented by the brackets arranged at intervals is shown. The brackets 41 and 42 are arranged at intervals, and the handling device 43 can freely enter and exit the space between the brackets 41 and 42.

[0103] This deployment method is convenient and flexible, and for a handling device that lifts an object by raising the upper structure, it is easy for the handling device to leave the current position. Of course, for other types of carrying devices, the free entry and exit of the handling device can also be achieved by setting a walking channel for the handling device and a avoidance structure of the upper structure.

[0104] Figures 5A to 5D The schematic diagram of the process of the latent AGV acquiring a pallet is exemplarily shown. For the sake of convenience, it is assumed that the upper structure of the AGV is located at the center of the handling equipment.

[0105] like Figure 5A As shown, the pallet 51 is placed on the load-bearing surfaces of the brackets 52 and 53. Due to the error caused by the previous handling process, the center line of the ground code 54 (indicated by a dotted line) and the center line of the pallet 51 carrying the goods (indicated by a dotted line) do not overlap, that is, there is a deviation between the pallet 51 and the first target position represented by the ground code 54. Based on the navigation and positioning results, AGV55 enters between the brackets 52 and 53 and searches for the ground code 54. After moving to the position of the ground code 54, AGV55 uses an upward camera to capture a first image, and determines the deviation between the pallet 51 and the ground code 54 based on the designated mark in the first image. The deviation also represents the deviation between the pallet 51 and the AGV55. Figure 5B In , AGV55 adjusts its own position according to the determined deviation information to minimize the deviation between AGV55 and pallet 51, and the center lines of the two coincide. Figure 5C In the process, AGV55 raises its upper structure and lifts up the tray 51. Figure 5D In the process, AGV55 carrying pallet 51 returns to ground code 54 and proceeds to the next target location from there.

[0106] Figures 5E to 5H A schematic diagram of the process of a latent AGV unloading a pallet is shown as an example.

[0107] like Figure 5EAs shown, AGV55 carrying pallet 51 moves between brackets 56 and 57 and moves toward ground code 58. After moving to the ground code 58, AGV55 uses an upward camera to capture a second image and determines the deviation between pallet 51 and ground code 58 based on the specified mark in the second image. This deviation also represents the deviation between pallet 51 and AGV55. Fig. 5F In the process, AGV55 adjusts its own position according to the determined deviation information to minimize the deviation between pallet 51 and ground code 58, and the center lines of the two coincide with each other. Figure 5G In the process, AGV 55 lowers its upper structure to place the pallet 51 on the brackets 56 and 57, completing the unloading of the pallet 51. Figure 5H In the process, AGV55 carrying pallet 51 returns to ground code 58 and proceeds to the next target location from there.

[0108] Reference below Figure 6 and Figure 7 An embodiment of the transport control device of the present invention will be described.

[0109] Figure 6 FIG. 2 shows a schematic diagram of the structure of a transport control device according to some embodiments of the present invention. Figure 6 As shown, the transport control device 600 of this embodiment includes: an acquisition module 6100, configured to acquire a first image of an object to be transported, which is collected by a transport device located at a first target position; a determination module 6200, configured to determine first deviation information of the object relative to the first target position according to the position of a designated mark on the object in the first image; a posture adjustment indication module 6300, configured to instruct the transport device to adjust the posture according to the first deviation information; and a transport indication module 6400, configured to instruct the transport device to transport the object to a second target position.

[0110] In some embodiments, the determination module 6200 is further configured to determine first deviation information according to a deviation between a position of a designated mark on the object in the first image and a first designated position in the first image.

[0111] In some embodiments, the determination module 6200 is further configured to determine a first position deviation based on a deviation between the position of a designated mark on the object in the first image and the first designated position; determine a first direction deviation based on a deviation between the direction of the designated mark on the object in the first image and one or more first designated directions in the first image; and determine first deviation information based on the first position deviation and the first direction deviation.

[0112] In some embodiments, the determination module 6200 is further configured to determine first deviation information based on a deviation between a position of a designated mark on the object in the first image and a position of the designated mark in the first reference image, wherein the first reference image is an image captured by the transport device when a relative position deviation between the transport device and the object is within a specified range.

[0113] In some embodiments, the posture adjustment instruction module 6300 is further configured to instruct the transport device to adjust the posture according to the first deviation information so that the relative position deviation between the transport device and the object is within a specified range.

[0114] In some embodiments, the transport instruction module 6400 is further configured to send an object acquisition instruction to the transport device; send a return instruction to the transport device, wherein the return instruction is used to instruct the transport device to return to the first target position; send a move instruction to the transport device, wherein the move instruction is used to instruct the transport device to move to the second target position.

[0115] In some embodiments, the handling device determines its own position and posture according to the ground identification code, and the first deviation information is the deviation information of the object relative to the ground identification code at the first target position.

[0116] In some embodiments, the designated identifier is a structural feature of the object body.

[0117] In some embodiments, the designated mark is located at the bottom of the object, the object is placed on a carrying device, and the contact surface between the carrying device and the bottom of the object has an avoidance structure to reveal the designated mark.

[0118] In some embodiments, the object is a container for carrying cargo.

[0119] Figure 7 FIG. 2 shows a schematic diagram of the structure of a transport control device according to some other embodiments of the present invention. Figure 7 As shown, the transport control device 700 of this embodiment includes: an acquisition module 7100, configured to acquire a second image of an object to be unloaded, which is collected by a transport device located at a second target position, wherein the object is located on the transport device; a determination module 7200, configured to determine second deviation information of the object relative to the second target position according to the position of a designated mark on the object in the second image; a posture adjustment indication module 7300, configured to instruct the transport device to adjust the posture according to the second deviation information; and a placement indication module 7400, configured to instruct the transport device to place the object at the second target position.

[0120] In some embodiments, the determination module 7200 is further configured to determine second deviation information according to a deviation between a position of a designated mark on the object in the second image and a second designated position in the second image.

[0121] In some embodiments, the determination module 7200 is further configured to determine a second position deviation based on a deviation between the position of a designated mark on the object in the second image and a second designated position; determine a second direction deviation based on a deviation between the direction of a designated mark on the object in the second image and one or more second designated directions in the second image; and determine second deviation information based on the second position deviation and the second direction deviation.

[0122] In some embodiments, the determination module 7200 is further configured to determine second deviation information based on the position of a designated mark on the object in the second image and the deviation of the position of the designated mark in the second reference image, wherein the second reference image is an image captured by the transport device when the relative position deviation between the transport device and the object is within a specified range.

[0123] In some embodiments, the posture adjustment instruction module 7300 is further configured to instruct the handling device to adjust the posture according to the second deviation information so that the relative position deviation between the object and the second target position is within a specified range.

[0124] In some embodiments, the handling device determines its own position and posture according to the ground identification code, and the second deviation information is the deviation information of the object relative to the ground identification code at the second target position.

[0125] In some embodiments, the designated identifier is a structural feature of the object body.

[0126] In some embodiments, the designated mark is located at the bottom of the object, the object is placed on a carrying device, and the contact surface between the carrying device and the bottom of the object has an avoidance structure to reveal the designated mark.

[0127] In some embodiments, the object is a container for carrying cargo.

[0128] It should be noted that the transport control device 600 and the transport control device 700 may be respectively provided in different devices, or may be provided in the same device.

[0129] Reference below Figure 8 An embodiment of the transport control system of the present invention will be described.

[0130] Figure 8 FIG. 2 shows a schematic diagram of a transport control system according to some embodiments of the present invention. Figure 8As shown, the transport control system 80 of this embodiment includes: a transport control device 810, which is a transport control device in any embodiment of the present invention; and a transport equipment 820. The transport control device 810 and the transport equipment 820 are electrically connected or communicated with each other.

[0131] The transport control device 810 may be deployed in the transport equipment 820 or may be remotely deployed, for example, in a server.

[0132] The handling equipment is, for example, an AGV. The AGV can adjust its posture based on a differential model, that is, it can control the rotation speed and direction of the drive wheels respectively. In the process of adjusting the posture, the AGV can, for example, change the center position of the AGV by rotating. Of course, the AGV can also adjust its position only by walking in a straight line, that is, adjust the direction of the front of the vehicle to walk for a while, and then adjust the front of the vehicle to walk for another while to adjust its position.

[0133] In some embodiments, the transport equipment includes a vehicle body and an upper structure that is liftably disposed on the top of the vehicle body, and the upper structure is used to hold up objects.

[0134] In some embodiments, the upper structure is rotatably disposed on the vehicle body in a horizontal plane.

[0135] For example, when the vehicle body rotates, the upper structure can move in the opposite direction, so that from an outside perspective, only the trolley is rotating, and the object held by the upper structure does not rotate. In some embodiments, when adjusting the posture, the vehicle body first rotates the trolley to adjust the position, and after the trolley posture is correct, the upper structure is rotated alone to return the positive direction of the object to the positive direction. In this way, the movement of the object on the upper structure can be avoided as much as possible, further reducing the error.

[0136] However, it should be clear to those skilled in the art that it is also feasible to adjust the vehicle body and the upper structure simultaneously; or, it is also feasible to first rotate the upper structure to a desired angle and then adjust the position of the vehicle body.

[0137] In some embodiments, the transport control system further includes: a carrying device for carrying the object, and a contact surface between the carrying device and the bottom of the object has an avoidance structure to reveal a designated mark located at the bottom of the object.

[0138] In some embodiments, the support device includes a bracket.

[0139] In some embodiments, the carrying device includes two brackets arranged at an interval, each bracket has an overlapping surface for overlapping objects, and a passage for the transport equipment to pass through is formed between the two brackets.

[0140] Fig. 9 FIG. 2 shows a schematic diagram of the structure of a transport control device according to some other embodiments of the present invention. Fig. 9 As shown, the transport control device 90 of this embodiment includes: a memory 910 and a processor 920 coupled to the memory 910 , and the processor 920 is configured to execute the transport control method in any one of the aforementioned embodiments based on instructions stored in the memory 910 .

[0141] The memory 910 may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, an application program, a boot loader, and other programs.

[0142] Fig.10 FIG. 2 shows a schematic diagram of the structure of a transport control device according to some further embodiments of the present invention. Fig.10 As shown, the transport control device 100 of this embodiment includes: a memory 1010 and a processor 1020, and may also include an input / output interface 1030, a network interface 1040, a storage interface 1050, etc. These interfaces 1030, 1040, 1050 and the memory 1010 and the processor 1020 may be connected, for example, via a bus 1060. Among them, the input / output interface 1030 provides a connection interface for input / output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 1040 provides a connection interface for various networked devices. The storage interface 1050 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0143] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein the program implements any one of the aforementioned transport control methods when executed by a processor.

[0144] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0145] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0146] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0147] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0148] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for handling control, comprising: Acquire a first image of the object to be transported, which is captured by a transport device located at a first target position; Determining first deviation information of the object relative to the first target position according to the position of the designated mark on the object in the first image; Instructing the transport device to adjust its posture according to the first deviation information; The transport device is instructed to transport the object to a second target location.

2. The transport control method according to claim 1, wherein: Determining first deviation information of the object relative to the first target position according to the position of the designated mark on the object in the first image includes: The first deviation information is determined according to a deviation between a position of a designated mark on the object in the first image and a first designated position in the first image.

3. The transport control method according to claim 2, wherein: Determining the first deviation information according to a deviation between a position of a designated mark on the object in the first image and a first designated position in the first image includes: determining a first position deviation according to a deviation between a position of a designated mark on the object in the first image and the first designated position; determining a first direction deviation according to a deviation between a direction of a designated mark on the object in the first image and one or more first designated directions in the first image; The first deviation information is determined according to the first position deviation and the first direction deviation.

4. The transport control method according to claim 2, wherein: Determining first deviation information of the object relative to the first target position according to the position of the designated mark on the object in the first image includes: The first deviation information is determined based on a deviation between a position of a designated mark on the object in the first image and a position of the designated mark in a first reference image, wherein the first reference image is an image captured by the transport device when a relative position deviation between the transport device and the object is within a specified range.

5. The transport control method according to claim 1, wherein: The instructing the transport device to adjust the posture according to the first deviation information includes: The transport device is instructed to adjust its posture according to the first deviation information so that the relative position deviation between the transport device and the object is within a specified range.

6. The transport control method according to claim 1, wherein: The instructing the transport device to transport the object to the second target location comprises: sending an object acquisition instruction to the handling device; Sending a return instruction to the transport device, wherein the return instruction is used to instruct the transport device to return to the first target position; A movement instruction is sent to the transport device, wherein the movement instruction is used to instruct the transport device to move to the second target position.

7. The transport control method according to claim 1, wherein: The handling device determines its own position and posture according to the ground identification code, and the first deviation information is the deviation information of the object relative to the ground identification code at the first target position.

8. A method for handling control, comprising: Acquire a second image of the object to be unloaded, which is captured by a handling device located at a second target position, wherein the object is located on the handling device; Determining second deviation information of the object relative to the second target position according to the position of the designated mark on the object in the second image; Instructing the transport device to adjust its posture according to the second deviation information; The handling device is instructed to place the object at a second target location.

9. The transport control method according to claim 8, wherein: Determining second deviation information of the object relative to the second target position according to the position of the designated mark on the object in the second image includes: The second deviation information is determined according to a deviation between a position of a designated mark on the object in the second image and a second designated position in the second image.

10. The transport control method according to claim 9, wherein: Determining the second deviation information according to a deviation between a position of a designated mark on the object in the second image and a second designated position in the second image includes: determining a second position deviation according to a deviation between a position of a designated mark on the object in the second image and the second designated position; determining a second direction deviation according to a deviation between a direction of a designated mark on the object in the second image and one or more second designated directions in the second image; The second deviation information is determined according to the second position deviation and the second direction deviation.

11. The transport control method according to claim 9, wherein: Determining second deviation information of the object relative to the second target position according to the position of the designated mark on the object in the second image includes: The second deviation information is determined based on the position of a designated mark on the object in the second image and the deviation of the position of the designated mark in the second reference image, wherein the second reference image is an image captured by the transport device when the relative position deviation between the transport device and the object is within a specified range.

12. The transport control method according to claim 8, wherein: The instructing the transport device to adjust the posture according to the second deviation information includes: The handling device is instructed to adjust the posture according to the second deviation information so that the relative position deviation between the object and the second target position is within a specified range.

13. The transport control method according to claim 8, wherein: The handling device determines its own position and posture according to the ground identification code, and the second deviation information is the deviation information of the object relative to the ground identification code at the second target position.

14. The conveyance control method according to any one of claims 1 to 13, wherein: The designated mark is a structural feature of the object body.

15. The conveyance control method according to any one of claims 1 to 13, wherein: The designated mark is located at the bottom of the object, the object is placed on a carrying device, and the contact surface between the carrying device and the bottom of the object has an avoidance structure to reveal the designated mark.

16. The conveyance control method according to any one of claims 1 to 13, wherein: The object is a container for loading goods.

17. A transport control device, comprising: An acquisition module is configured to acquire a first image of the object to be transported, which is captured by a transport device located at a first target position; a determination module configured to determine first deviation information of the object relative to the first target position according to a position of a designated mark on the object in the first image; A posture adjustment instruction module, configured to instruct the handling device to adjust its posture according to the first deviation information; The transport instruction module is configured to instruct the transport equipment to transport the object to a second target location.

18. A transport control device, comprising: an acquisition module, configured to acquire a second image of the object to be unloaded, which is captured by a handling device located at the second target position, wherein the object is located on the handling device; a determination module configured to determine second deviation information of the object relative to the second target position according to the position of the designated mark on the object in the second image; A posture adjustment instruction module, configured to instruct the handling device to adjust its posture according to the second deviation information; The placement instruction module is configured to instruct the transport device to place the object at a second target location.

19. A transport control device, comprising: Memory; as well as A processor coupled to the memory, wherein the processor is configured to execute the transport control method according to any one of claims 1 to 16 based on instructions stored in the memory.

20. A handling control system, comprising: The transport control device according to any one of claims 17 to 19; as well as Handling equipment.

21. The transport control system according to claim 20, wherein: The transport equipment comprises a vehicle body and an upper structure which is liftably arranged on the top of the vehicle body, and the upper structure is used for holding up the object.

22. The transport control system according to claim 20, wherein: The upper structure is rotatably arranged on the vehicle body in a horizontal plane.

23. The transport control system of claim 21, further comprising: The carrying device is used for carrying an object, and the contact surface between the carrying device and the bottom of the object has an avoidance structure to reveal a designated mark located at the bottom of the object.

24. The transport control system according to claim 23, wherein: The carrying device comprises a bracket.

25. The transport control system according to claim 24, wherein: The carrying device comprises two brackets arranged at an interval, each bracket having an overlapping surface for overlapping the object, and a passage for the transport equipment to pass through is formed between the two brackets.

26. A computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the conveyance control method according to any one of claims 1 to 16 is implemented.

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