Robot control method, device and system and robot

Abstract

The embodiment of the invention provides a robot control method, device and system and a robot. The method comprises the following steps: judging whether a target robot conflicts with other robots or not when the target robot is located at a target point location; goods required to be forked by the target robot are stored at the target point location; if the target robot conflicts with the other robots when located at the target point location, fork teeth of the target robot are controlled to be inserted into holes of a carrier carrying goods at the target point location; and controlling a fork tooth of the target robot to ascend so as to lift the carrier carrying the goods, controlling the fork tooth to keep still, and controlling a vehicle body of the target robot to move relative to the fork tooth so as to enable the vehicle body to move to the position below the fork tooth. By applying the embodiment of the invention, the passing efficiency of the robot can be improved.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a robot control method, device, system and robot. Background Art

[0002] When a lurking forklift robot is picking up and placing goods, it is usually controlled to insert the fork tines into the holes of the carrier carrying the goods at the cargo storage position in front of the cargo storage position, raise the fork tines, retract the fork tines and lower the fork tines so that the goods are placed on the top of the vehicle body to pick up the goods, and to raise the fork tines to lift the goods placed on the top of the vehicle body, extend the fork tines, lower the fork tines, and retract the fork tines to place the goods. However, the lurking forklift robot occupies a large space in the above-mentioned process of picking up and placing goods, which may hinder the passage of other robots. If other robots are controlled to wait for the lurking forklift robot to complete picking up and placing goods before starting to pass, the robot's passage time will be prolonged, reducing the robot's passage efficiency. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a robot control method, device, system and robot to improve the robot's travel efficiency. The specific technical solution is as follows:

[0004] The present application provides a robot control method, the method comprising:

[0005] Determine whether the target robot conflicts with other robots when it is located at a target point; the target point stores goods that the target robot needs to pick up;

[0006] If the target robot conflicts with the other robots when located at the target point, the fork tine of the target robot is controlled to be inserted into the hole of the vehicle carrying the goods at the target point; the fork tine of the target robot is controlled to rise to lift the vehicle carrying the goods, and the fork tine is controlled to remain stationary, and the body of the target robot is controlled to move relative to the fork tine so that the body moves below the fork tine.

[0007] In a possible embodiment, determining whether a target robot conflicts with other robots when located at a target point includes:

[0008] Determine whether the running routes of other robots include the target point;

[0009] If the target point is included in the running route of the other robots, then when the target robot is located at the target point, it is determined whether the time required for the other robots to run to the target point is less than or equal to a preset time threshold;

[0010] If, when the target robot is located at the target point, the time required for the other robots to run to the target point is less than or equal to the preset time threshold, then the target robot conflicts with the other robots when located at the target point;

[0011] If, when the target robot is located at the target point, the time required for the other robots to run to the target point is greater than the preset time threshold, then the target robot does not conflict with the other robots when it is located at the target point;

[0012] If the target point is not included in the running route of the other robots, the target robot does not conflict with the other robots when it is located at the target point.

[0013] In a possible embodiment, the preset time threshold is the interval between the time when the target robot runs to the target point and the time when the target robot leaves the target point;

[0014] The determining whether the time required for the other robots to run to the target point is less than or equal to a preset time threshold when the target robot is located at the target point includes:

[0015] When the target robot is located at a target point, whether the interval between the time when the target robot runs to the target point and the time when the other robots run to the target point is less than or equal to the preset time threshold;

[0016] If the target robot is located at the target point, and the time required for the other robots to run to the target point is less than or equal to the preset time threshold, then the target robot conflicts with the other robots when located at the target point, including:

[0017] If, when the target robot is located at the target point, the interval between the time when the target robot runs to the target point and the time when the other robots run to the target point is less than or equal to the preset time threshold, then the target robot conflicts with the other robots when located at the target point;

[0018] If the target robot is located at the target point, and the time required for the other robots to run to the target point is greater than the preset time threshold, then the target robot does not conflict with the other robots when located at the target point, including:

[0019] If, when the target robot is located at the target point, the interval between the time it takes for the target robot to run to the target point and the time it takes for the other robots to run to the target point is greater than the preset time threshold, then the target robot does not conflict with the other robots when it is located at the target point.

[0020] In a possible embodiment, the method further includes:

[0021] If the target point is included in the running route of the other robots, then when the target robot is located at the target point, it is determined whether the distance between the position of the other robots and the target point is less than or equal to a preset distance threshold;

[0022] If, when the target robot is located at the target point, the distance between the position of the other robots and the target point is less than or equal to the preset distance threshold, then the target robot conflicts with the other robots when located at the target point;

[0023] If, when the target robot is located at the target point, the distance between the position of the other robots and the target point is greater than the preset distance threshold, then the target robot does not conflict with the other robots when it is located at the target point.

[0024] In a possible embodiment, the method further includes:

[0025] If the target robot does not conflict with the other robots when located at the target point, the fork tine of the target robot is controlled to be inserted into the hole of the vehicle carrying the goods at the target point, and the fork tine of the target robot is controlled to rise to lift the vehicle carrying the goods, and the vehicle body is controlled to remain stationary, and the fork tine is controlled to move relative to the vehicle body so that the fork tine moves above the vehicle body.

[0026] The present application also provides a robot control device, the device comprising:

[0027] A conflict judgment module is used to judge whether a target robot conflicts with other robots when the target robot is located at a target point; the target point stores goods that the target robot needs to pick up;

[0028] The first control module is used to control the fork tine of the target robot to insert into the hole of the carrier carrying goods at the target point if the target robot collides with the other robots when located at the target point; control the fork tine of the target robot to rise to lift the carrier carrying goods, control the fork tine to remain stationary, and control the body of the target robot to move relative to the fork tine so that the body moves below the fork tine.

[0029] In a possible embodiment, determining whether a target robot conflicts with other robots when located at a target point includes:

[0030] Determine whether the running routes of other robots include the target point;

[0031] If the target point is included in the running route of the other robots, then when the target robot is located at the target point, it is determined whether the time required for the other robots to run to the target point is less than or equal to a preset time threshold;

[0032] If, when the target robot is located at the target point, the time required for the other robots to run to the target point is less than or equal to the preset time threshold, then the target robot conflicts with the other robots when located at the target point;

[0033] If, when the target robot is located at the target point, the time required for the other robots to run to the target point is greater than the preset time threshold, then the target robot does not conflict with the other robots when it is located at the target point;

[0034] If the target point is not included in the running route of the other robots, the target robot does not conflict with the other robots when it is located at the target point.

[0035] In a possible embodiment, the preset time threshold is the interval between the time when the target robot runs to the target point and the time when the target robot leaves the target point;

[0036] The determining whether the time required for the other robots to run to the target point is less than or equal to a preset time threshold when the target robot is located at the target point includes:

[0037] When the target robot is located at a target point, whether the interval between the time when the target robot runs to the target point and the time when the other robots run to the target point is less than or equal to the preset time threshold;

[0038] If the target robot is located at the target point, and the time required for the other robots to run to the target point is less than or equal to the preset time threshold, then the target robot conflicts with the other robots when located at the target point, including:

[0039] If, when the target robot is located at the target point, the interval between the time when the target robot runs to the target point and the time when the other robots run to the target point is less than or equal to the preset time threshold, then the target robot conflicts with the other robots when located at the target point;

[0040] If the target robot is located at the target point, and the time required for the other robots to run to the target point is greater than the preset time threshold, then the target robot does not conflict with the other robots when located at the target point, including:

[0041] If, when the target robot is located at the target point, the interval between the time it takes for the target robot to run to the target point and the time it takes for the other robots to run to the target point is greater than the preset time threshold, then the target robot does not conflict with the other robots when it is located at the target point.

[0042] In a possible embodiment, the device further includes:

[0043] a distance judgment module, configured to judge whether the distance between the position of the other robots and the target point is less than or equal to a preset distance threshold when the target robot is located at the target point if the target point is included in the running route of the other robots;

[0044] If, when the target robot is located at the target point, the distance between the position of the other robots and the target point is less than or equal to the preset distance threshold, then the target robot conflicts with the other robots when located at the target point;

[0045] If, when the target robot is located at the target point, the distance between the position of the other robots and the target point is greater than the preset distance threshold, then the target robot does not conflict with the other robots when it is located at the target point.

[0046] In a possible embodiment, the device further includes:

[0047] The second control module is used to control the fork tine of the target robot to be inserted into the hole of the vehicle carrying goods at the target point if the target robot does not conflict with the other robots when located at the target point, and to control the fork tine of the target robot to rise to lift the vehicle carrying goods, and to control the vehicle body to remain stationary, and to control the fork tine to move relative to the vehicle body so that the fork tine moves to above the vehicle body.

[0048] The embodiment of the present application further provides a robot control system, the robot control system comprising: a robot scheduling planning subsystem and a robot;

[0049] The robot scheduling and planning subsystem is used to execute any of the aforementioned robot control methods;

[0050] The robot is used to work according to the control of the robot scheduling and planning subsystem when the robot scheduling and planning subsystem executes any of the aforementioned robot control methods.

[0051] The embodiment of the present application further provides a robot, the robot comprising: fork teeth, a body, a lifting mechanism, and a movable connecting piece;

[0052] The movable connecting member is used to connect the vehicle body and the lifting mechanism;

[0053] The robot is used to work according to the control of the robot scheduling and planning subsystem when the robot scheduling and planning subsystem executes any of the aforementioned robot control methods.

[0054] 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 robot control methods.

[0055] Beneficial effects of the embodiments of the present application:

[0056] The robot control method, device, system and robot provided in the embodiments of the present application can control the fork tine of the target robot to be inserted into the hole of the carrier carrying goods at the target point when the target robot is located at the target point and conflicts with other robots; control the fork tine of the target robot to rise to lift the carrier carrying goods, and control the fork tine to remain stationary, and control the body of the target robot to move relative to the fork tine so that the body moves below the fork tine. It can be understood that in the existing method of controlling the target robot to insert the fork tine into the hole of the carrier carrying goods at the cargo storage position, raising the fork tine, and retracting the fork tine to put down the fork tine so that the goods are placed above the body to realize the process of picking up goods, the space occupied by the target robot is equivalent to the sum of the space required to be occupied by the body and the fork tine respectively, and the position of the target robot is unchanged, so that the distance between the target robot and the robot running route is unchanged. In the present application, since the cargo is located above the fork teeth, the target robot can be located below the cargo by controlling the body of the target robot to move below the fork teeth, thereby utilizing the space below the cargo and saving the space required for the target robot to occupy, so that the space occupied by the target robot for picking up the cargo is equivalent to the space required only for the body or the fork teeth. Furthermore, it can be understood that when the body of the target robot is controlled to move relative to the fork teeth so that the body moves below the fork teeth, the body of the target robot moves in a direction away from the robot's running route, that is, as the body of the target robot moves, the distance between the target robot and the robot's running route is constantly increasing. Therefore, the embodiment of the present application can increase the distance between the target robot and the robot's running route. Therefore, the embodiment of the present application can save the space required for the target robot and increase the distance between the target robot and the robot's running route when the target robot conflicts with other robots when the target robot is located at the target point. This allows other robots to pass normally without waiting for the target robot to finish work, thereby reducing the travel time of other robots increased due to waiting and improving the travel efficiency of the robots.

[0057] 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

[0058] 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.

[0059] Figure 1a A schematic diagram of a lurking forklift robot picking up / putting goods in a fork-type picking and placing mode;

[0060] Figure 1b A schematic diagram of a collision between other robots and a lurking forklift robot;

[0061] Figure 2 A schematic diagram of a flow chart of a robot control method provided in an embodiment of the present application;

[0062] Figure 3 A schematic diagram of the target robot picking up / putting goods in a drive-in pick-up and put-down mode;

[0063] Figure 4 Another schematic diagram of a flow chart of a robot control method provided in an embodiment of the present application;

[0064] Figure 5 A schematic diagram of point distribution provided in an embodiment of the present application;

[0065] Figure 6 A schematic diagram of another flow chart of the robot control method provided in the embodiment of the present application;

[0066] Figure 7 A schematic diagram of another flow chart of the robot control method provided in the embodiment of the present application;

[0067] Figure 8 A schematic diagram of another flow chart of the robot control method provided in the embodiment of the present application;

[0068] Fig. 9 A schematic diagram of a target robot conversion mode in the event of a conflict provided in an embodiment of the present application;

[0069] Fig.10 A schematic diagram of the structure of a robot control device provided in an embodiment of the present application;

[0070] Fig.11 A schematic diagram of the structure of a robot control system provided in an embodiment of the present application;

[0071] Fig.12 A schematic diagram of the structure of a robot provided in an embodiment of the present application;

[0072] Fig.13 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0073] 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.

[0074] In order to more clearly illustrate the robot control method provided by the present application, the possible application scenarios of the robot control method provided by the present application will be exemplified below. It can be understood that the following examples are only possible application scenarios of the robot control method provided by the present application. In other possible embodiments, the robot control method provided by the present application can be applied to other possible application scenarios, and the following examples do not impose any limitations on this.

[0075] At present, when multiple robots in a robot control system perform the task of transporting goods, they usually determine the loading and unloading plan of each robot for the goods to be loaded or unloaded based on the specifications of the goods to be loaded or unloaded, the number of goods that each robot can load, and other detection information, so that each robot completes the task of transporting goods according to the determined loading and unloading plan, that is, the robot's loading and unloading method of the goods is determined based on the above detection information. However, since the above detection information is mostly objective fixed information in the actual environment, such as the specifications of the goods, the number of goods that the robot can load, etc., the collaborative operation ability of each robot in the robot control system is not considered, and mutual obstruction between the robots may occur. For example, assuming that robot 1 is loading goods at point 1 where goods are stored, and robot 2 needs to pass through point 1 to reach point 2 to load goods, at this time, robot 1 may obstruct robot 2 from passing through point 1.

[0076] In the application scenario where the above-mentioned robot is a lurking forklift robot, the way in which the lurking forklift robot picks up or puts down the goods is generally fixed. For the sake of convenience in the following description, picking up or putting down the goods will be referred to as picking up / putting down the goods. The way in which the lurking forklift robot picks up / puts down the goods is generally: the lurking forklift robot inserts the fork tine into the hole of the carrier carrying the goods at the cargo storage position in front of the cargo storage position, raises the fork tine, retracts the fork tine and lowers the fork tine, so that the goods are placed on the top of the vehicle body to pick up the goods, and the fork tine is raised to lift the goods placed on the top of the vehicle body, and the fork tine is extended, the fork tine is lowered, and the fork tine is retracted to achieve the release of the goods. The above-mentioned pick-up / putting down method is referred to as the fork-type picking up and putting down mode hereinafter. The fork-type picking up and putting down mode is easy to implement, and has low requirements on the hardware equipment of the lurking forklift robot, and has low loss on the hardware equipment.

[0077] The schematic diagram of the lurking forklift robot picking up / putting goods in the fork-type picking and placing mode can be shown as follows Figure 1a See Figure 1a , where 11 is the fork tine of the latent forklift robot, 12 is the body of the latent forklift robot, the circular mark 13 is the point where the latent forklift robot needs to fork the goods, 14 is the carrier forked by the fork tine 11 of the latent forklift robot, and 15 is the goods carried on the carrier. The lines between the points 13 are the possible running routes of the latent forklift robot.

[0078] See also Figure 1b As shown, when other robots 16 in the robot control system run in the direction indicated by the arrow below, that is, when other robots 16 in the robot control system run from right to left, the lurking forklift robot occupies a large space, resulting in a small distance between the lurking forklift robot and the robot running route. Therefore, other robots 16 may collide with the lurking forklift robot, that is, the lurking forklift robot will hinder the passage of other robots 16. If other robots 16 wait for the lurking forklift robot to complete the picking up / putting of goods before starting to pass, the passage time of other robots 16 in the robot control system will be prolonged, reducing the passage efficiency of the robots in the robot control system.

[0079] Based on this, in order to improve the robot's travel efficiency, this application provides a robot control method, see Figure 2 , the robot control method includes:

[0080] S21, determining whether the target robot conflicts with other robots when located at the target point.

[0081] The target point stores the goods that the target robot needs to pick up.

[0082] S22, if the target robot conflicts with other robots when located at the target point, control the fork tine of the target robot to be inserted into the hole of the vehicle carrying the goods at the target point; control the fork tine of the target robot to rise to lift the vehicle carrying the goods, control the fork tine to remain stationary, and control the body of the target robot to move relative to the fork tine so that the body moves below the fork tine.

[0083] By using the embodiments of the present application, when the target robot is located at the target point and conflicts with other robots, the tine of the target robot can be controlled to be inserted into the hole of the carrier carrying the goods at the target point; the tine of the target robot can be controlled to rise to lift the carrier carrying the goods, and the tine can be controlled to remain stationary, and the body of the target robot can be controlled to move relative to the tine so that the body moves below the tine. It can be understood that in the existing method of controlling the target robot to insert the tine into the hole of the carrier carrying the goods at the cargo storage position, raise the tine, and retract the tine to put down the tine so that the goods are placed above the body to realize the process of picking up the goods, the space occupied by the target robot is equivalent to the sum of the space required to be occupied by the body and the tine respectively, and the position of the target robot is unchanged, so that the distance between the target robot and the robot's running route is unchanged. In the present application, since the cargo is located above the fork teeth, the target robot can be located below the cargo by controlling the body of the target robot to move below the fork teeth, thereby utilizing the space below the cargo and saving the space required for the target robot to occupy, so that the space occupied by the target robot for picking up the cargo is equivalent to the space required only for the body or the fork teeth. Furthermore, it can be understood that when the body of the target robot is controlled to move relative to the fork teeth so that the body moves below the fork teeth, the body of the target robot moves in a direction away from the robot's running route, that is, as the body of the target robot moves, the distance between the target robot and the robot's running route is constantly increasing. Therefore, the embodiment of the present application can increase the distance between the target robot and the robot's running route. Therefore, the embodiment of the present application can save the space required for the target robot and increase the distance between the target robot and the robot's running route when the target robot conflicts with other robots when the target robot is located at the target point. This allows other robots to pass normally without waiting for the target robot to finish work, thereby reducing the travel time of other robots increased due to waiting and improving the travel efficiency of the robots.

[0084] The above S21-S22 will be described exemplarily below:

[0085] In S21, the target robot is any potential forklift robot that can implement the robot control method provided in the present application. Exemplarily, the structure of the target robot may include: fork teeth, a body, a lifting mechanism, and a moving connection member.

[0086] The other robots may be robots of the same type as the target robot, or robots of a different type from the target robot. For example, the other robots may be lurking robots having only suction cups, or lurking robots having only lifting components, and so on.

[0087] The target point can be Figure 1a , Figure 1b The target point stores the cargo that the target robot needs to fork. The following will provide an exemplary description of how to determine whether a target robot conflicts with other robots when it is located at the target point, which will not be repeated here.

[0088] If the target robot conflicts with other robots when it is at the target point, the target robot can be controlled to pick up / put the goods according to the drive-in pick-up and release mode in S22; if the target robot does not conflict with other robots when it is at the target point, the target robot can be controlled to pick up / put the goods according to the non-drive-in pick-up and release mode in S23.

[0089] The non-drive-in pick-up and place mode may refer to: controlling the target robot to fix the suction cup on the robotic arm on the goods to be picked up, and controlling the robotic arm to lift up so that the target robot picks up the goods to be picked up. By controlling the robotic arm to lower, and controlling the suction cup on the robotic arm to leave the goods, the target robot puts down the goods. In this non-drive-in pick-up and place mode, the structure of the target robot includes not only forks, a body, a lifting mechanism, and a mobile connector, but also a suction cup manipulator, which includes a suction cup with adsorption force and a programmable robotic arm.

[0090] In S22, the goods that the target robot needs to fork and pick up stored at the target point are placed on a carrier, and the carrier can refer to any carrier that can be used to carry goods, such as a shelf, a pallet, etc. It can be understood that in order to enable the fork tine of the target robot to fork the carrier and the goods carried on the carrier, there should be a hollow hole under the carrier so that the target robot can insert the fork tine into the hole of the carrier and lift the carrier carrying the goods by raising the fork tine.

[0091] After the tines of the target robot rise, the tines of the target robot are controlled to remain stationary, and the body of the target robot is controlled to move relative to the tines so that the body of the target robot moves to the bottom of the tines of the target robot, so that the space occupied by the target robot is only the space occupied by the tines of the target robot, thereby reducing the space occupied by the target robot. And the tines of the target robot are controlled to remain stationary so that the body of the target robot moves to the bottom of the tines of the target robot, which is equivalent to the body of the target robot moving away from the robot's running route, thereby increasing the distance between the target robot and the robot's running route. Hereinafter, the pickup / dropping method of the target robot in S22 is referred to as the drive-in pickup and drop mode.

[0092] The schematic diagram of the target robot picking up / putting goods in the drive-in pick-up and placement mode can be shown as follows: Figure 3 See Figure 3 It can be seen that in the drive-in pick-up and placement mode, the space occupied by the target robot is only the space occupied by the body of the target robot. If the fork tines of the target robot are longer, so that the space occupied by the fork tines is larger than the space occupied by the body, then in the drive-in pick-up and placement mode, the space occupied by the target robot is only the space occupied by the fork tines of the target robot. Figure 1a As shown in the figure, in the fork-type pick-up and placement mode, the space occupied by the target robot is the sum of the space occupied by the target robot's body and the space occupied by the target robot's forks. Therefore, compared with the fork-type pick-up and placement mode, the drive-in pick-up and placement mode can save the space occupied by the target robot's body or forks, making the target robot occupy less space, increasing the distance between the target robot and the robot's running route, and thus reducing the obstruction caused by the target robot to the passage of other robots.

[0093] The aforementioned S21-S22 has been exemplarily described above. The following will provide an exemplified description of how to determine whether a target robot conflicts with other robots when located at a target point in S21.

[0094] In one possible embodiment, see Figure 4 , the aforementioned S21 includes:

[0095] S211, determining whether the running routes of other robots include the target point.

[0096] For example, see Figure 5 As shown, Figure 5The 16 points 501 to 516 are included in the route. If the target robot needs to pick up the cargo at point 504, then point 504 is the target point. Assuming that the running route of other robots is point 508 → point 507 → point 506 → point 514 → point 513 → point 512 → point 511 → point 503 → point 502 → point 501, then the running route of other robots does not include point 504, that is, the running route of other robots does not include the target point.

[0097] Assuming that the running routes of other robots are point 508→point 507→point 506→point 505→point 504→point 503→point 5011→point 510→point 509, the running routes of other robots include point 504, that is, the running routes of other robots include the target point.

[0098] S212: If the running routes of other robots include the target point, it is determined whether the time required for other robots to run to the target point is less than or equal to a preset time threshold when the target robot is located at the target point.

[0099] S213: If, when the target robot is located at the target point, the time required for other robots to run to the target point is less than or equal to a preset time threshold, the target robot conflicts with other robots when located at the target point.

[0100] S214, if the time required for other robots to run to the target point when the target robot is located at the target point is greater than a preset time threshold, the target robot does not conflict with other robots when it is located at the target point.

[0101] In S212-S214, it can be understood that if the running routes of other robots include the target point, when the target robot is located at the target point, other robots may need to pass through the target point. Therefore, it can be determined whether the target robot and other robots will conflict by judging whether the time required for other robots to run to the target point is less than or equal to a preset time threshold when the target robot is located at the target point.

[0102] When other robots reach the target point when the target robot is at the target point, the target robot will conflict with other robots. Therefore, the preset time threshold needs to be set so that when other robots reach the target point, the target robot has left the target point. In this way, it can be ensured that when the time required for other robots to run to the target point is greater than the preset time threshold, the target robot and other robots will not conflict at the target point.

[0103] Specifically, the preset time threshold can be set according to past experience or user needs. If the user needs to improve the robot's passage efficiency, the preset time threshold can be set to a smaller value while ensuring that the setting of the preset time threshold enables other robots to leave the target point when they arrive at the target point; if the user has lower requirements for the robot's passage efficiency, the preset time threshold can be set to a larger value while ensuring that the setting of the preset time threshold enables other robots to leave the target point when they arrive at the target point. There is no restriction on the setting of the preset time threshold in this application. The setting of the preset time threshold will be exemplarily described below and will not be repeated here.

[0104] S215: If the running routes of other robots do not include the target point, the target robot does not conflict with other robots when it is located at the target point.

[0105] It is understandable that, since the target point is not included in the running routes of other robots, other robots will not pass through the target point, and it is impossible for other robots to collide with the target robot at the target point. Therefore, if the running routes of other robots do not include the target point, it can be considered that the target robot does not collide with other robots when it is at the target point.

[0106] By selecting this embodiment, it is possible to determine whether the target robot and other robots will collide at the target point in the following manner: determine whether the target point is included in the running route of other robots, and if the target robot is located at the target point, determine whether the time required for other robots to run to the target point is less than or equal to the preset time threshold. Therefore, when the target robot and other robots collide at the target point, the target robot can be controlled to perform the pick-up and release task in the drive-in pick-up and release mode, effectively avoiding the disadvantage of the target robot occupying a large space in the single fork-pickup and release mode, reducing the obstruction caused by the target robot to the passage of other robots, so that other robots can pass normally without waiting for the target robot to finish its work, reducing the passage time of other robots increased by waiting, and improving the passage efficiency of the robots.

[0107] In the above, an exemplary description has been given of how to determine whether a target robot conflicts with other robots when the target robot is located at the target point in S21. The following description will provide an exemplary description of the setting of the preset time threshold.

[0108] In a possible embodiment, the preset time threshold is the interval between the time when the target robot runs to the target point and the time when the target robot leaves the target point. Figure 6 , the robot control method includes:

[0109] S211, determining whether the running routes of other robots include the target point.

[0110] S2121, if the running routes of other robots include the target point, determine whether the interval between the time when the target robot runs to the target point and the time when other robots run to the target point is less than or equal to a preset time threshold when the target robot is located at the target point.

[0111] S2131, if when the target robot is at the target point, the interval between the time it takes for the target robot to run to the target point and the time it takes for other robots to run to the target point is less than or equal to a preset time threshold, then the target robot conflicts with other robots when it is at the target point.

[0112] S2141, if when the target robot is at the target point, the interval between the time it takes for the target robot to run to the target point and the time it takes for other robots to run to the target point is greater than a preset time threshold, then the target robot does not conflict with other robots when it is at the target point.

[0113] S215: If the running routes of other robots do not include the target point, the target robot does not conflict with other robots when it is located at the target point.

[0114] Figure 6 The process shown is similar to Figure 4 The only difference is that S212 is refined into S2121, S213 is refined into S2131, and S214 is refined into S2141. Since S211 and S215 have been Figure 4 It is explained in the relevant instructions and will not be repeated here. Only S2121, S2131 and S2141 will be explained below.

[0115] In S2121-S2141, the interval between the time when the target robot runs to the target point and the time when other robots run to the target point = the time when other robots run to the target point - the time when the target robot runs to the target point.

[0116] Since the preset time threshold is the interval between the time when the target robot runs to the target point and the time when the target robot leaves the target point, if the target robot is at the target point, the interval between the time when the target robot runs to the target point and the time when other robots run to the target point is less than or equal to the preset time threshold, it means that when other robots run to the target point, the target robot is still at the target point or the target robot is just about to leave the target point, then the other robots and the target robot will collide at the target point.

[0117] If the target robot is at the target point, and the interval between the time it takes for the target robot to run to the target point and the time it takes other robots to run to the target point is greater than a preset time threshold, it means that when other robots run to the target point, the target robot has left the target point, and the other robots will not collide with the target robot at the target point.

[0118] For example, assuming that the target robot runs to the target point at 08:00 and leaves the target point at 08:03, the preset time threshold is 3 minutes. Assuming that the other robots run to the target point at 08:02, at this time, the target robot is at the target point, and the interval between the time when the target robot runs to the target point and the time when the other robots run to the target point is 2 minutes, which is less than the preset time threshold of 3 minutes. Therefore, the other robots and the target robot will collide at the target point.

[0119] If it is assumed that the time it takes for other robots to reach the target point is 08:05, then at this time, the interval between the time it takes for the target robot to reach the target point and the time it takes for other robots to reach the target point is 5 minutes, which is greater than the preset time threshold of 3 minutes. Therefore, it can be considered that other robots and the target robot will not conflict at the target point.

[0120] In addition, in this embodiment, if the interval between the time it takes for the target robot to run to the target point and the time it takes for other robots to run to the target point may be a negative number, that is, when other robots run to the target point, the target robot has not yet run to the target point, then in this case, it can be understood that when the target robot runs to the target point, the other robots have left the target point. Therefore, at this time, the other robots and the target robot will not conflict at the target point.

[0121] In other possible embodiments, the preset time threshold may also be greater than the interval between the time when the target robot runs to the target point and the time when the target robot leaves the target point. Exemplarily, assuming that the time when the target robot runs to the target point is 08:00, the time when the target robot leaves the target point is 08:03, and the interval between the time when the target robot runs to the target point and the time when the target robot leaves the target point is 3 minutes, then the preset time threshold may be set to a value greater than 3 minutes, for example, 4 minutes, 5 minutes, etc.

[0122] The above is an exemplary description of the setting of the preset time threshold, and the following is an exemplary description of how to determine whether a target robot conflicts with other robots when it is located at the target point in S21.

[0123] In another possible embodiment, see Figure 7 , the aforementioned S21 includes:

[0124] S211, determining whether the running routes of other robots include the target point.

[0125] S216, if the running routes of other robots include the target point, it is determined whether the distance between the positions of other robots and the target point is less than or equal to a preset distance threshold when the target robot is located at the target point.

[0126] S217, if the target robot is located at the target point and the distance between the positions of other robots and the target point is less than or equal to a preset distance threshold, the target robot conflicts with the other robots when located at the target point.

[0127] S218, if the target robot is located at the target point and the distance between the positions of other robots and the target point is greater than a preset distance threshold, the target robot does not conflict with other robots when it is located at the target point.

[0128] S215: If the running routes of other robots do not include the target point, the target robot does not conflict with other robots when it is located at the target point.

[0129] Figure 7 The process shown is similar to Figure 4 The only difference is that S212-S214 is replaced by S216-S218. Since S211 and S215 are already in the above Figure 4 It is explained in the relevant description and will not be repeated here. Only S216-S218 will be explained below.

[0130] In S216-S218, it can be understood that if the operating routes of other robots include the target point, when the target robot is located at the target point, other robots may need to pass through the target point. Therefore, it can be determined whether the target robot and other robots will conflict by judging whether the distance between the position of other robots and the target point is less than or equal to a preset distance threshold when the target robot is located at the target point.

[0131] When other robots reach the target point when the target robot is at the target point, the target robot will conflict with other robots. Therefore, the preset distance threshold needs to be set so that when other robots reach the target point, the target robot has left the target point. Only in this way can it be ensured that when the distance between the position of other robots and the target point is greater than the preset distance threshold, the target robot and other robots will not conflict at the target point.

[0132] Specifically, the preset distance threshold can be set according to past experience or user needs, and this application does not impose any restrictions on this.

[0133] In the above, an exemplary description is given of how to determine whether the target robot conflicts with other robots when it is located at the target point in S21. In addition, in the above, the target robot performs the task of picking up and placing goods when it conflicts with other robots when it is located at the target point. In the following, the target robot performs the task of picking up and placing goods when it does not conflict with other robots when it is located at the target point.

[0134] In one possible embodiment, see Figure 8 , the robot control method provided by this application includes:

[0135] S21, determining whether the target robot conflicts with other robots when located at the target point.

[0136] The target point stores the goods that the target robot needs to pick up.

[0137] S22, if the target robot conflicts with other robots when located at the target point, control the fork tine of the target robot to be inserted into the hole of the vehicle carrying the goods at the target point; control the fork tine of the target robot to rise to lift the vehicle carrying the goods, control the fork tine to remain stationary, and control the body of the target robot to move relative to the fork tine so that the body moves below the fork tine.

[0138] S231, if the target robot does not conflict with other robots when it is located at the target point, control the fork tine of the target robot to be inserted into the hole of the vehicle carrying the goods at the target point, and control the fork tine of the target robot to rise to lift the vehicle carrying the goods, and control the vehicle body to remain stationary, and control the fork tine to move relative to the vehicle body so that the fork tine moves to the top of the vehicle body.

[0139] The way in which the target robot performs the task of picking up and placing goods shown in S231 is the fork-pick picking and placing mode mentioned above. The fork-pick picking and placing mode has been described in the previous text and will not be repeated here. Figure 2 The embodiment shown is described, and the above description of S21-S22 can be referred to, so it will not be repeated here. In this embodiment, the fork-type cargo pick-up and release mode in S231 is a possible example of the non-drive-in cargo pick-up and release mode in S23.

[0140] Since the target robot shown in S22 performs the picking and placing task in the aforementioned drive-in picking and placing mode, and the target robot shown in S231 performs the picking and placing task in the aforementioned fork-type picking and placing mode, therefore, Figure 8 In the illustrated embodiment, when the target robot does not conflict with other robots at the target position, that is, when the target robot does not affect the passage of other robots, the target robot adopts the fork-type picking and placing mode to perform the picking and placing task; when the target robot conflicts with other robots at the target position, that is, when the target robot affects the passage of other robots, the target robot converts the fork-type picking and placing mode to the drive-in picking and placing mode, and performs the picking and placing task using the drive-in picking and placing mode.

[0141] See also Fig. 9 As shown, 17 is another robot that conflicts with the target robot at the target point. In this case, the target robot adopts a drive-in pick-up and release mode to perform the pick-up and release task.

[0142] By selecting this embodiment, the target robot can dynamically switch the mode of performing the picking and placing task according to the result of judging whether there is a conflict with other robots when the target robot is located at the target point, so that the target robot can perform the picking and placing task in a fork-pick picking and placing mode without affecting the passage of other robots, thereby avoiding the problem that the drive-in picking and placing mode requires high hardware equipment of the target robot and causes high losses. In the case where the target robot affects the passage of other robots, the fork-pick picking and placing mode is converted to the drive-in picking and placing mode, and the picking and placing task is performed in the drive-in picking and placing mode, thereby avoiding the problem that the fork-pick picking and placing mode causes the target robot to occupy a large space and hinder the passage of other robots, thereby effectively avoiding the shortcomings of the target robot when performing the picking and placing task in a single mode.

[0143] Corresponding to the aforementioned robot control method, the present application also provides a robot control device, see Fig.10 , the device comprises:

[0144] The conflict judgment module 1001 is used to judge whether the target robot conflicts with other robots when it is located at a target point; the target point stores goods that the target robot needs to pick up;

[0145] The first control module 1002 is used to control the fork tine of the target robot to be inserted into the hole of the vehicle carrying the goods at the target point if the target robot conflicts with other robots when located at the target point; control the fork tine of the target robot to rise to lift the vehicle carrying the goods, control the fork tine to remain stationary, and control the body of the target robot to move relative to the fork tine so that the body moves below the fork tine.

[0146] In a possible embodiment, determining whether a target robot conflicts with other robots when located at a target point includes:

[0147] Determine whether the running routes of other robots include the target point;

[0148] If the running routes of other robots include the target point, it is determined whether the time required for other robots to run to the target point is less than or equal to a preset time threshold when the target robot is located at the target point;

[0149] If the target robot is located at the target point and the time required for other robots to run to the target point is less than or equal to the preset time threshold, the target robot will conflict with other robots when it is located at the target point;

[0150] If the target robot is located at the target point and the time required for other robots to run to the target point is greater than the preset time threshold, the target robot does not conflict with other robots when it is located at the target point;

[0151] If the running routes of other robots do not include the target point, the target robot will not conflict with other robots when it is located at the target point.

[0152] In a possible embodiment, the preset time threshold is the interval between the time when the target robot runs to the target point and the time when the target robot leaves the target point;

[0153] When the target robot is at the target point, it is determined whether the time required for other robots to run to the target point is less than or equal to the preset time threshold, including:

[0154] When the target robot is at the target point, it is determined whether the interval between the time when the target robot runs to the target point and the time when other robots run to the target point is less than or equal to a preset time threshold;

[0155] If the target robot is at the target point and the time required for other robots to run to the target point is less than or equal to the preset time threshold, the target robot will conflict with other robots at the target point, including:

[0156] If, when the target robot is at the target point, the interval between the time it takes for the target robot to run to the target point and the time it takes for other robots to run to the target point is less than or equal to a preset time threshold, then the target robot will collide with other robots when it is at the target point;

[0157] If the target robot is at the target point and the time required for other robots to run to the target point is greater than the preset time threshold, the target robot does not conflict with other robots when it is at the target point, including:

[0158] If, when the target robot is at the target point, the interval between the time it takes for the target robot to run to the target point and the time it takes for other robots to run to the target point is greater than a preset time threshold, then the target robot does not conflict with other robots when it is at the target point.

[0159] In a possible embodiment, the device further includes:

[0160] A distance judgment module is used to judge whether the distance between the position of the other robots and the target point is less than or equal to a preset distance threshold when the target robot is located at the target point if the target point is included in the running route of the other robots;

[0161] If the target robot is located at the target point and the distance between the positions of other robots and the target point is less than or equal to the preset distance threshold, the target robot will collide with other robots when it is located at the target point;

[0162] If the target robot is located at the target point and the distance between the positions of other robots and the target point is greater than a preset distance threshold, the target robot does not conflict with other robots when it is located at the target point.

[0163] In a possible embodiment, the device further includes:

[0164] The second control module is used to control the fork tine of the target robot to insert into the hole of the vehicle carrying the goods at the target point if the target robot does not conflict with other robots when located at the target point, and to control the fork tine of the target robot to rise to lift the vehicle carrying the goods, and to control the vehicle body to remain stationary, and to control the fork tine to move relative to the vehicle body so that the fork tine moves to above the vehicle body.

[0165] Corresponding to the aforementioned robot control method, the present application embodiment also provides a robot control system, see Fig.11 , the robot control system includes: a robot scheduling and planning subsystem 1101 and a robot 1102;

[0166] The robot scheduling and planning subsystem 1101 is used to execute any of the aforementioned robot control methods;

[0167] The robot 1102 is used to work according to the control of the robot scheduling and planning subsystem 1101 when the robot scheduling and planning subsystem 1101 executes any of the aforementioned robot control methods.

[0168] Corresponding to the aforementioned robot control method, the present application embodiment further provides a robot, see Fig.12 , the robot includes: fork teeth 1201, a vehicle body 1202, a lifting mechanism 1203, and a mobile connecting member 1204;

[0169] The movable connecting member 1204 is used to connect the vehicle body 1202 and the lifting mechanism 1203;

[0170] The robot is used to work according to the control of the robot scheduling and planning subsystem when the robot scheduling and planning subsystem executes any of the aforementioned robot control methods.

[0171] The structure of the target robot in the previous article can be Fig.12 The structure of the robot shown.

[0172] The present application also provides an electronic device, such as Fig.13 As shown, including:

[0173] Memory 1301, used for storing computer programs;

[0174] The processor 1302 is used to implement the following steps when executing the program stored in the memory 1301:

[0175] Determine whether the target robot conflicts with other robots when it is at the target point; the target point stores the goods that the target robot needs to pick up;

[0176] If the target robot conflicts with other robots when located at the target point, the fork tine of the target robot is controlled to be inserted into the hole of the vehicle carrying the goods at the target point; the fork tine of the target robot is controlled to rise to lift the vehicle carrying the goods, and the fork tine is controlled to remain stationary; the body of the target robot is controlled to move relative to the fork tine so that the body moves below the fork tine.

[0177] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 1302, the communication interface, and the memory 1301 communicate with each other via the communication bus.

[0178] 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.

[0179] The communication interface is used for communication between the above electronic device and other devices.

[0180] 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.

[0181] 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.

[0182] 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 robot control methods are implemented.

[0183] 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 robot control method in the above embodiments.

[0184] 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.

[0185] 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.

[0186] 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 embodiments of the device, system, robot, electronic device, computer-readable storage medium, and computer program product containing instructions, 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.

[0187] 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 robot control method, characterized in that: The method comprises: Determine whether the target robot conflicts with other robots when it is located at a target point; the target point stores goods that the target robot needs to pick up; If the target robot conflicts with the other robots when located at the target point, the fork tine of the target robot is controlled to be inserted into the hole of the vehicle carrying the goods at the target point; the fork tine of the target robot is controlled to rise to lift the vehicle carrying the goods, and the fork tine is controlled to remain stationary, and the body of the target robot is controlled to move relative to the fork tine so that the body moves below the fork tine.

2. The method according to claim 1, characterized in that The determining whether a target robot conflicts with other robots when located at the target point includes: Determine whether the running routes of other robots include the target point; If the target point is included in the running route of the other robots, then when the target robot is located at the target point, it is determined whether the time required for the other robots to run to the target point is less than or equal to a preset time threshold; If, when the target robot is located at the target point, the time required for the other robots to run to the target point is less than or equal to the preset time threshold, then the target robot conflicts with the other robots when located at the target point; If, when the target robot is located at the target point, the time required for the other robots to run to the target point is greater than the preset time threshold, then the target robot does not conflict with the other robots when it is located at the target point; If the target point is not included in the running route of the other robots, the target robot does not conflict with the other robots when it is located at the target point.

3. The method according to claim 2, characterized in that The preset time threshold is the interval between the time when the target robot runs to the target point and the time when the target robot leaves the target point; The determining whether the time required for the other robots to run to the target point is less than or equal to a preset time threshold when the target robot is located at the target point includes: When the target robot is located at a target point, whether the interval between the time when the target robot runs to the target point and the time when the other robots run to the target point is less than or equal to the preset time threshold; If the target robot is located at the target point, and the time required for the other robots to run to the target point is less than or equal to the preset time threshold, then the target robot conflicts with the other robots when located at the target point, including: If, when the target robot is located at the target point, the interval between the time when the target robot runs to the target point and the time when the other robots run to the target point is less than or equal to the preset time threshold, then the target robot conflicts with the other robots when located at the target point; If the target robot is located at the target point, and the time required for the other robots to run to the target point is greater than the preset time threshold, then the target robot does not conflict with the other robots when located at the target point, including: If, when the target robot is located at the target point, the interval between the time it takes for the target robot to run to the target point and the time it takes for the other robots to run to the target point is greater than the preset time threshold, then the target robot does not conflict with the other robots when it is located at the target point.

4. The method according to claim 2, characterized in that: The method further comprises: If the target point is included in the running route of the other robots, then when the target robot is located at the target point, it is determined whether the distance between the position of the other robots and the target point is less than or equal to a preset distance threshold; If, when the target robot is located at the target point, the distance between the position of the other robots and the target point is less than or equal to the preset distance threshold, then the target robot conflicts with the other robots when located at the target point; If, when the target robot is located at the target point, the distance between the position of the other robots and the target point is greater than the preset distance threshold, then the target robot does not conflict with the other robots when it is located at the target point.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: If the target robot does not conflict with the other robots when located at the target point, the fork tine of the target robot is controlled to be inserted into the hole of the vehicle carrying the goods at the target point, and the fork tine of the target robot is controlled to rise to lift the vehicle carrying the goods, and the vehicle body is controlled to remain stationary, and the fork tine is controlled to move relative to the vehicle body so that the fork tine moves above the vehicle body.

6. A robot control device, characterized in that: The device comprises: A conflict judgment module is used to judge whether a target robot conflicts with other robots when the target robot is located at a target point; the target point stores goods that the target robot needs to pick up; The first control module is used to control the fork tine of the target robot to insert into the hole of the carrier carrying goods at the target point if the target robot collides with the other robots when located at the target point; control the fork tine of the target robot to rise to lift the carrier carrying goods, control the fork tine to remain stationary, and control the body of the target robot to move relative to the fork tine so that the body moves below the fork tine.

7. The device according to claim 6, characterized in that The determining whether a target robot conflicts with other robots when located at the target point includes: Determine whether the running routes of other robots include the target point; If the target point is included in the running route of the other robots, then when the target robot is located at the target point, it is determined whether the time required for the other robots to run to the target point is less than or equal to a preset time threshold; If, when the target robot is located at the target point, the time required for the other robots to run to the target point is less than or equal to the preset time threshold, then the target robot conflicts with the other robots when located at the target point; If, when the target robot is located at the target point, the time required for the other robots to run to the target point is greater than the preset time threshold, then the target robot does not conflict with the other robots when it is located at the target point; If the running route of the other robots does not include the target point, the target robot does not conflict with the other robots when it is located at the target point; and / or, The preset time threshold is the interval between the time when the target robot runs to the target point and the time when the target robot leaves the target point; The determining whether the time required for the other robots to run to the target point is less than or equal to a preset time threshold when the target robot is located at the target point includes: When the target robot is located at a target point, whether the interval between the time when the target robot runs to the target point and the time when the other robots run to the target point is less than or equal to the preset time threshold; If the target robot is located at the target point, and the time required for the other robots to run to the target point is less than or equal to the preset time threshold, then the target robot conflicts with the other robots when located at the target point, including: If, when the target robot is located at the target point, the interval between the time when the target robot runs to the target point and the time when the other robots run to the target point is less than or equal to the preset time threshold, then the target robot conflicts with the other robots when located at the target point; If the target robot is located at the target point, and the time required for the other robots to run to the target point is greater than the preset time threshold, then the target robot does not conflict with the other robots when located at the target point, including: If, when the target robot is located at the target point, the interval between the time when the target robot runs to the target point and the time when the other robots run to the target point is greater than the preset time threshold, then the target robot does not conflict with the other robots when it is located at the target point; and / or, The device also includes: a distance judgment module, configured to judge whether the distance between the position of the other robots and the target point is less than or equal to a preset distance threshold when the target robot is located at the target point if the target point is included in the running route of the other robots; If, when the target robot is located at the target point, the distance between the position of the other robots and the target point is less than or equal to the preset distance threshold, then the target robot conflicts with the other robots when located at the target point; If, when the target robot is located at the target point, the distance between the position of the other robots and the target point is greater than the preset distance threshold, then the target robot does not conflict with the other robots when it is located at the target point; and / or, The device also includes: The second control module is used to control the fork tine of the target robot to be inserted into the hole of the vehicle carrying goods at the target point if the target robot does not conflict with the other robots when located at the target point, and to control the fork tine of the target robot to rise to lift the vehicle carrying goods, and to control the vehicle body to remain stationary, and to control the fork tine to move relative to the vehicle body so that the fork tine moves to above the vehicle body.

8. A robot control system, characterized in that: The robot control system comprises: a robot scheduling and planning subsystem and a robot; The robot scheduling and planning subsystem is used to execute the robot control method described in any one of claims 1 to 5; The robot is used to work according to the control of the robot scheduling and planning subsystem when the robot scheduling and planning subsystem executes the robot control method described in any one of claims 1-5.

9. A robot, characterized in that: The robot comprises: fork teeth, a body, a lifting mechanism, and a movable connecting piece; The movable connecting member is used to connect the vehicle body and the lifting mechanism; The robot is used to work according to the control of the robot scheduling and planning subsystem when the robot scheduling and planning subsystem executes the robot control method described in any one of claims 1-5.

Images