Method, apparatus and system for handling control, positioning, handling interaction

Abstract

The invention relates to the technical field of intelligent loading and unloading, in particular to a method, device and system for carrying control, positioning and carrying interaction. The method comprises the following steps: acquiring a first indication position indicated by a specified position based on the body of a carrier in a train boxcar or a container; calculating a first target position of the transfer robot based on the first indication position, wherein the first target position is an estimated loading / unloading position expected by a worker to be provided by the transfer robot; and the transfer robot is controlled to align a first actual position to the first target position so that the worker can carry out loading / unloading of the soft package goods on the transfer robot at the first target position, and the first actual position is an actual loading / unloading position provided by the transfer robot. According to the scheme, automatic and intelligent carrying can be achieved for loading and unloading of flexible package goods in a narrow goods stacking space, so that labor force is saved, and the safety coefficient is increased.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of intelligent loading and unloading, and in particular, to a method, device and system for handling control, positioning, and handling interaction. Background Art

[0002] Railway freight and container freight have the advantages of low cost, low pollution, large transportation volume and being unaffected by climate, and are widely used. For example, they can be used to transport grain, resin, chemical fertilizer, cement, cotton, sand, etc.

[0003] Among them, railway freight usually uses covered wagons. A covered wagon, also known as a boxcar, commonly called a gondola car, is an enclosed train carriage, generally used to transport goods. When loading and unloading the above-mentioned goods in a limited enclosed space such as a railway covered wagon or a container, for the soft packaging of bulk materials in bags (packages), due to the soft packaging shape, it is easy to deform during the handling process, and the handling space is narrow, so it is extremely difficult to fully automate the loading and unloading of goods by machine. Currently, the loading and unloading process of goods is basically completed manually. For example, workers need to operate a trolley in a narrow enclosed space to receive goods from a forklift outside the carriage, then manually push the trolley to the position where the goods are to be stacked in the carriage, unload the goods from the trolley and stack the goods neatly (stack), or vice versa, manually transport the goods in the carriage to the trolley, then manually push the trolley, and the forklift outside the carriage receives these goods. Such manual operations not only consume a large amount of labor, but also have a low safety factor.

[0004] Therefore, how to provide an automated and intelligent article handling method in a limited enclosed space for freight transportation has become an urgent technical problem to be solved. Summary of the Invention

[0005] The purpose of the embodiments of the present invention is to provide a method, device and system for handling control, positioning, and handling interaction, which can achieve automated and intelligent handling for the loading and unloading of soft-packaged goods in a narrow goods stacking space, so as to save labor and improve the safety factor. Here, the narrow goods stacking space includes a limited enclosed space, such as the above-mentioned railway covered wagon or container, etc., and can also include other types of limited spaces, such as a carriage with incomplete closure on both sides and / or the upper part, such as a motor freight truck carriage (usually with an open upper part) or a carriage with incomplete closure on both sides.

[0006] The embodiments of the present invention provide a method for handling control, which is applied to a handling robot located in a railway covered wagon or a container, and the method includes: Obtain a first indicated position indicated by a specified position based on the worker's body within a railway gondola car or a container, where the first indicated position is used for the worker to indicate the loading / unloading position that the handling robot should provide when performing loading / unloading on the handling robot; Calculate a first target position of the handling robot based on the first indicated position, where the first target position is the speculated loading / unloading position that the worker expects the handling robot to provide; Control the handling robot to align the first actual position with the first target position for the worker to perform loading / unloading of flexible package goods on the handling robot at the first target position, where the first actual position is the actual loading / unloading position provided by the handling robot.

[0007] An embodiment of the present invention further provides a handling robot located within a railway gondola car or a container, and a control device is provided on the handling robot; the control device includes: An acquisition module for obtaining a first indicated position indicated by a specified position based on the worker's body within a railway gondola car or a container, where the first indicated position is used for the worker to indicate the loading / unloading position that the handling robot should provide when performing loading / unloading on the handling robot; A calculation module for calculating a first target position of the handling robot based on the first indicated position, where the first target position is the speculated loading / unloading position that the worker expects the handling robot to provide; A control module for controlling the handling robot to align the first actual position with the first target position for the worker to perform loading / unloading of flexible package goods on the handling robot at the first target position, where the first actual position is the actual loading / unloading position provided by the handling robot.

[0008] An embodiment of the present invention further provides a positioning method applied to a wearable device located at a specified position on the worker's body, where the worker is located within a railway gondola car or a container, and the positioning method includes: Detect an indicating action indicating a first indicated position based on a specified position on the worker's body; After detecting the indicating action, send a positioning sensing signal into the railway gondola car or the container for the handling robot to obtain a first indicated position indicated by a specified position based on the worker's body within the railway gondola car or the container according to the positioning sensing signal, and perform the method for handling control as described above based on the first indicated position.

[0009] An embodiment of the present invention further provides a positioning device, which is arranged in a wearable device located at a specified position on the worker's body. The worker is located inside a railway shed car or a container. The positioning device includes: A detection module, configured to detect an indicating action that indicates a first indicating position based on a specified position on the worker's body; A sending module, configured to send a positioning sensing signal into the railway shed car or the container after detecting the indicating action, so that a handling robot can obtain a first indicating position indicated by the specified position on the worker's body inside the railway shed car or the container based on the positioning sensing signal, and execute the method for handling control as described above based on the first indicating position.

[0010] An embodiment of the present invention further provides a handling interaction method, which is applied to a handling robot located inside a railway shed car or a container and a positioning device arranged in a wearable device located at a specified position on the worker's body. The worker is located inside the railway shed car or the container. The handling interaction method includes: The positioning device detects an indicating action that indicates a first indicating position based on a specified position on the worker's body, and sends a positioning sensing signal into the railway shed car or the container after detecting the indicating action; The handling robot obtains a first indicating position indicated by the specified position on the worker's body inside the railway shed car or the container based on the positioning sensing signal, and executes the method for handling control as described above based on the first indicating position.

[0011] An embodiment of the present invention further provides a handling interaction system, including: a handling robot located inside a railway shed car or a container, and a positioning device arranged in a wearable device located at a specified position on the worker's body. The worker is located inside the railway shed car or the container; The positioning device is configured to detect an indicating action that indicates a first indicating position based on a specified position on the worker's body, and send a positioning sensing signal into the railway shed car or the container after detecting the indicating action; The handling robot is configured to obtain a first indicating position indicated by the specified position on the worker's body inside the railway shed car or the container based on the positioning sensing signal, and execute the method for handling control as described above based on the first indicating position.

[0012] Embodiments of the present invention also provide an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute the method for handling control, or the positioning method, or the handling interaction method in the above embodiments.

[0013] Embodiments of the present invention also provide a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed by a processor, the method for handling control, or the positioning method, or the handling interaction method as described above is implemented.

[0014] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which when executed by a processor, implements the method for handling control, or the positioning method, or the handling interaction method in the above embodiments.

[0015] In the embodiments of the present invention, a worker located inside a railway gondola car or a container can indicate a first indication position based on a specified position of his own body, where the first indication position is used for the worker to indicate the loading / unloading position that the handling robot should provide when performing loading / unloading operations on the handling robot; after the handling robot obtains the first indication position, it calculates a first target position based on the first indication position as the speculated loading / unloading position that the worker expects the handling robot to provide; subsequently, the handling robot controls itself to move to the vicinity of the first target position and aligns its first actual position with the first target position, and the first actual position is the actual loading / unloading position provided by the handling robot; for the worker to perform loading / unloading operations on the handling robot for soft-packaged goods at the first target position. In this solution, by using the specified position of the worker's own body as the issuer of the indication to indicate the first indication position, the handling robot controls its own movement according to the first indication position to provide a suitable loading / unloading position for the worker to complete the loading / unloading operations on the handling robot. The whole process adopts a semi-manual and semi-mechanical handling mode, which can achieve automated and intelligent handling for the loading and unloading of soft-packaged goods in a narrow stacking space, so as to save labor and improve the safety factor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] One or more embodiments are illustrated by way of example in the pictures in the corresponding drawings, and these exemplary illustrations do not limit the embodiments.

[0017] Figure 1 It is a schematic diagram of a robot handling scenario according to an embodiment of the present application; Figure 2a is a flowchart illustrating a method for handling control according to an embodiment of the present application; Figure 2b is a schematic diagram of another robot handling scenario according to an embodiment of the present application; Figure 3 is a flowchart illustrating a method for a first target position according to an embodiment of the present application; Figure 4 is a flowchart illustrating a method for handling control according to another embodiment of the present application; Figure 5 is a schematic diagram of the structure of a handling robot according to an embodiment of the present application; Figure 6 is a flowchart illustrating a positioning method according to an embodiment of the present application; Figure 7 is a schematic diagram of the structure of a positioning device according to an embodiment of the present application; Figure 8 is a hardware block diagram of an electronic device according to an embodiment of the present application. Detailed implementation manners

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will elaborate on various embodiments of the present invention with reference to the accompanying drawings. However, those of ordinary skill in the art can understand that in various embodiments of the present invention, many technical details are presented to help readers better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present application can still be implemented.

[0019] Figure 1 is a schematic diagram of a robot handling scenario according to an embodiment of the present application. This scenario describes the loading and unloading processes of soft-packaged goods (such as grains, resins, fertilizers, cement, cotton, sand, etc.). Workers can stand on the cargo stack to perform loading / unloading operations on the handling robot, that is, workers unload goods from the handling robot to the stack (abbreviated as "unloading", or the handling robot unloads goods by itself, also known as "unloading"), or workers load goods from the cargo stack onto the handling robot (abbreviated as "loading", or the handling robot loads goods by itself, also known as "loading"). In this embodiment, the specific location where the loading and unloading processes occur is not limited. It can be in a spacious and open place such as a warehouse, a storage, etc., or it can occur in a relatively narrow space such as a railway boxcar or a container as shown in Figure 1 . The handling robot in this embodiment is small and flexible, and can move conveniently within the carriage.

[0020] In order to enable a handling robot to cooperate flexibly with workers to complete loading / unloading of soft-packaged goods, this embodiment proposes a new technical concept, that is: based on a specified position on the worker's body to "indicate" the loading / unloading position that the handling robot should provide when the worker performs loading / unloading on the handling robot. The handling robot can provide the loading / unloading position expected by the worker according to the "indication" of the worker, so as to facilitate the worker to complete the loading / unloading operation through the loading / unloading position provided by the handling robot. This can not only reduce the large consumption of manual labor, but also the worker does not have to make a large number of round trips between the handling robot and the cargo stack, especially the movement of climbing the cargo stack, reducing the occurrence of dangerous situations and improving the safety factor.

[0021] The inventive concept of the present invention is not only applicable to enclosed limited spaces, such as the above-mentioned railway boxcars or containers, etc., but also can include other types of limited spaces, such as carriages with incomplete enclosures on both sides and / or the upper part, such as motor freight carriages (usually with an open upper part) or carriages with incomplete enclosures on both sides.

[0022] The following will, through multiple embodiments, elaborate on the technical solutions of the above technical concept of the present application from the perspectives of the handling robot, the positioning device, and their combined cooperation.

[0023] Embodiment 1 An embodiment of the present invention relates to a method for handling control. The execution subject of this method can be a handling robot. The operation and movement principles, external structure, and other characteristics of the handling robot are not limited in this embodiment, and all robots capable of completing the established handling control in this embodiment are acceptable. As Figure 2a shown, this method includes the following steps.

[0024] Step 210: Obtain a first indicated position indicated by a specified position on the worker's body located inside a railway boxcar or a container, where the first indicated position is used for the worker to indicate the loading / unloading position that the handling robot should provide when performing loading / unloading on the handling robot.

[0025] Among them, the loading position provided by the handling robot is the position used to carry the goods to be loaded when it is convenient for the worker to load the goods onto the handling robot. For example, it can be the highest point position on the handling robot for carrying the goods to be loaded (refer to the loading position shown in Figure 1 ), so that the worker can align the position of the goods to be loaded (such as the lowest position) with this loading position as much as possible, facilitating the placement of the goods to be loaded onto the handling robot; the unloading position is the position on the handling robot that carries the goods to be unloaded when it is convenient for the worker to unload the goods from the handling robot. For example, it can be the lowest point position of the goods to be unloaded carried on the handling robot (refer to Figure 1The unloading position shown in [figure number], so that the worker can align the position for receiving the goods to be unloaded (the stacking position) with this unloading position, facilitating the unloading of the goods to be unloaded from the handling robot to the position for receiving the goods to be unloaded.

[0026] Specifically, in order to control the handling robot to move the loading / unloading position it provides to the position desired by the worker more accurately. In this embodiment, the worker can "indicate" the handling robot based on a specified position of his own body. That is, the worker can first indicate a first indication position in the train shed car or container based on the specified position of the body. The first indication position can be the same position in space as the specified position of the worker's body, or it can also be a different position. The role of the first indication position is to "indicate" the loading / unloading position that the handling robot should provide when performing loading / unloading. That is, for the handling robot, the first indication position can be regarded as a reference position for the loading / unloading position it should provide. The handling robot can "know" the loading / unloading position it should provide based on the first indication position.

[0027] It should be noted that when implementing this embodiment to enable the handling robot to obtain the first indication position, two issues need to be considered: First, how to emit the "signal" of this indication behavior based on the first indication position indicated by the specified position of the worker's body; Second, how the handling robot obtains the first indication position.

[0028] For the first problem, first, an indication association is set between the specified position of the worker's body (such as the arm position) and the first indication position. In practice, the specified position of the worker's body and the first indication position can be directly set to the same position (the specified position of the worker's body is both the initiator of the "indication" action and the first indication position itself). For example, the position where the human arm is located is the first indication position; or the specified position of the worker's body and the first indication position can be set to different positions (the specified position of the worker's body is only the initiator of the "indication" action, rather than the first indication position itself). For example, other positions of the worker's body indicated by the human arm, such as the human torso, palm, etc., are used as the first indication position, or other positions separated from the human arm by a certain spatial range in space, such as a certain position within a preset spatial range in front of the arm, are used as the first indication position.

[0029] Secondly, regarding how to emit the "signal" of the indicating action, if the designated position on the worker's body and the first indicating position are the same, the positioning device can be directly placed at the designated position, and the positioning device emits a positioning sensing signal externally, such as any one of NFC (Near Field Communication) signal, Bluetooth signal, and WiFi signal. The action of the worker controlling the positioning device to emit the positioning sensing signal can be used as the action of emitting the "signal" of the indicating action. If the designated position on the worker's body and the first indicating position are different, the worker can make a specific action (such as the action of stretching the arm vertically) through the designated position on the body. When these specific actions are performed by the worker, it indicates that the worker has emitted the "signal" of the indicating action.

[0030] Regarding the second question, it is necessary to realize how the handling robot can obtain the first indicating position after the worker emits the action indicating the first indicating position. If the worker emits the indicating action through the positioning device at the designated position on the body, the handling robot can directly collect the positioning sensing signal to realize the positioning of the first indicating position; if the worker emits the indicating action by making a specific action through the designated position on the body, the handling robot can perform positioning on the designated position of the human body through technologies such as image recognition, and then perform spatial position recognition on the first indicating position that has a positional association relationship with the designated position, so as to realize the positioning of the first indicating position.

[0031] Of course, without contradiction, the first indicating position different from the designated position can also be "indicated" through the positioning device, and / or the first indicating position the same as the designated position can be "indicated" through the specific action at the designated position. For the relevant principles, refer to the foregoing description and will not be elaborated here.

[0032] To simplify the operation, the designated position on the worker's body can be directly determined as the first indicating position.

[0033] For example, in some embodiments, based on the positioning sensing signal emitted by the positioning device provided at the designated position on the worker's body, spatial positioning of the designated position on the worker's body can be performed, and the spatial position obtained by the spatial positioning is determined as the first indicating position.

[0034] Specifically, a program algorithm for receiving and resolving the positioning sensing signal can be integrated on the handling robot. Based on the positioning resolution of the positioning device, spatial positioning of the designated position is completed, and then the spatial position obtained by the positioning is determined as the first indicating position.

[0035] For another example, in some other embodiments, based on the depth map information collected inside a railway boxcar or a container, the actions of a specified position on a worker's body inside the railway boxcar or the container can be detected, the specified position in a preset action can be spatially located, and the spatial position obtained from the spatial location can be determined as the first indicated position.

[0036] Specifically, a depth camera can be installed on the handling robot. The depth map information inside the railway boxcar or the container is collected through the depth camera, and the depth map information is identified to obtain the depth image of the worker contained therein and to detect the action state of the specified position on the worker's body in real time. When it is detected that the action of the specified position on the worker's body is in a preset action state (such as stretching the arm vertically), the specified position is spatially located, and then the spatial position obtained from the location is determined as the first indicated position.

[0037] Step 220: Calculate the first target position of the handling robot based on the first indicated position. The first target position is the inferred upper / lower cargo position that the worker expects the handling robot to provide.

[0038] Among them, there may be a preset position association relationship between the first target position and the first indicated position. This position association relationship is sufficient to be confident that the first target position can be used as the inferred upper / lower cargo position that the worker expects the handling robot to provide. For example, the first target position and the first indicated position can be set to the same position, or the first target position can be set to a certain position within a confidence space area centered on the first indicated position. Under the condition of meeting the confidence condition, the present embodiment does not limit the position association relationship between the first target position and the first indicated position.

[0039] Specifically, after learning the first indicated position, the handling robot can calculate the first target position having the above position association relationship with the first target position according to the built-in algorithm. This first target position can be regarded as the target position that the handling robot is about to move to.

[0040] In some embodiments, when calculating the first target position of the handling robot based on the first indicated position, the first indicated position can be directly determined as the first target position; or, a target space area containing the first indicated position is determined, and any position within the target space area is selected and determined as the first target position. It should be noted that the determined target space area should be sufficient to be confident that the first target position can be used as the inferred upper / lower cargo position that the worker expects the handling robot to provide.

[0041] Step 230: Control the handling robot to align the first actual position with the first target position for the worker to perform upper / lower cargo of flexible package goods at the first target position. The first actual position is the actual upper / lower cargo position provided by the handling robot.

[0042] Among them, in the actual loading / unloading positions provided by the handling robot, the actual loading position can be the highest point position on the handling robot for carrying the goods to be loaded, that is, the lowest position where the goods to be loaded are located when they are loaded onto the handling robot; the actual unloading position is the lowest point position of the goods to be unloaded carried on the handling robot, that is, the lowest position where the goods to be unloaded are located before being unloaded from the handling robot.

[0043] Specifically, after the handling robot determines the first target position, to facilitate the loading and unloading of goods, the handling robot can be controlled to align its first actual position with the first target position. The purpose of alignment is to enable workers to perform loading / unloading of flexible package goods on the handling robot at the first target position faster and more labor - saving.

[0044] In the actual application scenario, controlling the handling robot to align the first actual position with the first target position may include: when workers perform loading on the handling robot, controlling the handling robot to move the first actual position to a third height range lower than the first target position along the height direction inside the railway gondola car or container, or further move it to a third width range deviating from the first target position along the width direction inside the railway gondola car or container.

[0045] Specifically, when workers perform loading on the handling robot, to better utilize the downward inertia of the goods from the cargo stack to the handling robot, the handling robot can be controlled to move the first actual position to a third height range slightly lower than the first target position along the height direction (z) inside the railway gondola car or container, which makes it more labor - saving for workers to perform loading. Of course, there can be a certain misalignment range in the alignment in the width direction (y), that is, the handling robot can be controlled to move the first actual position to a third width range deviating from the first target position along the width direction inside the railway gondola car or container, which can increase the flexibility of the movement of the handling robot.

[0046] In the actual application scenario, controlling the handling robot to align the first actual position with the first target position may include: when workers perform unloading on the handling robot, controlling the handling robot to move the first actual position to a third height range higher than the first target position along the height direction inside the railway gondola car or container, or further move it to a third width range deviating from the first target position along the width direction inside the railway gondola car or container.

[0047] Specifically, when a worker unloads goods from the handling robot, to better utilize the downward inertia of the goods from the handling robot to the cargo stack, the handling robot can be controlled to move the first actual position to a third height range slightly higher than the first target position along the height direction (z) inside the railway gondola car or container, so that it will be more labor-saving for the worker to unload the goods. Of course, there can be a certain misalignment range in the alignment in the width direction (y), that is, the handling robot can be controlled to move the first actual position to a third width range deviating from the first target position along the width direction inside the railway gondola car or container, which can increase the flexibility of the movement of the handling robot.

[0048] In the method for handling control provided in this embodiment, a worker located inside a railway gondola car or container can indicate a first indication position based on a specified position of his own body, where the first indication position is used for the worker to indicate the loading / unloading position that the handling robot should provide when performing loading / unloading on the handling robot; after the handling robot obtains the first indication position, it calculates a first target position based on the first indication position as the speculated loading / unloading position that the worker expects the handling robot to provide; subsequently, the handling robot then controls itself to move to the vicinity of the first target position and aligns its first actual position with the first target position, and this first actual position is the actual loading / unloading position provided by the handling robot; for the worker to perform loading / unloading of flexible package goods on the handling robot at the first target position. In this solution, by using the specified position of the worker's own body as the indicator to indicate the first indication position, the handling robot controls its own movement according to the first indication position to provide a suitable loading / unloading position for the worker to complete the loading / unloading of the handling robot. The whole process adopts a semi-artificial and semi-mechanical handling mode, which can achieve automatic and intelligent handling for the loading and unloading of flexible package goods in a narrow cargo stacking space, so as to save labor and improve the safety factor.

[0049] Embodiment 2 Another embodiment of the present invention relates to a method for handling control, which method, Figure 2a on the basis of the method shown, adds the working mode of the handling robot and defines the operation content of the handling robot in different working modes. That is, before obtaining the first indication position indicated based on the specified position of the worker's body located inside the railway gondola car or container, the following steps are further included.

[0050] Step 1: In response to a triggering operation for a working mode, control the handling robot to enter the corresponding working mode, where the working mode at least includes a human-robot collaboration mode. Among them, the triggering operation for the working mode can be directly triggered by a worker on the handling robot. For example, corresponding "working mode" setting switches / buttons and other controls can be set on the handling robot, and the worker can manually directly set the working mode of the handling robot; or the working mode of the handling robot can also be set by means of remote control. In this embodiment, the setting method of the working mode of the handling robot is not limited.

[0051] Step 2: After the handling robot enters the human-robot collaboration mode, trigger the execution of the content of step 210, that is, execute the step of obtaining the first indicated position indicated by the specified position based on the worker's body located in the railway gondola car or container.

[0052] Further, the above working mode can at least further include a single-operation mode. Correspondingly, after the handling robot enters the single-operation mode, the handling robot can also execute the following step 3.

[0053] Step 3: Control the handling robot to independently perform unloading and stacking of soft-packaged goods in the railway gondola car or container; among them, the stacking height of the soft-packaged goods after unloading in the railway gondola car or container is not greater than a preset height.

[0054] As shown in Figure 2b, it is a schematic diagram of the scenario where the handling robot independently completes unloading and stacking in the single-operation mode. Specifically, conveyors, rollers or other devices capable of independently transferring goods can be set on the handling robot, so that the handling robot can independently complete the unloading of soft-packaged goods without the cooperation of porters. When unloading, the handling robot can unload neatly from the innermost corner to the outside along the railway gondola car or container, so as to achieve neat stacking of goods; considering the operating space occupied by the handling robot itself, after the goods are stacked to a certain height, the operating space above the goods becomes narrow, and it is inconvenient for the handling robot to unload. At this time, it is not possible to continue stacking to a higher place, but it is necessary to retreat to a position further outside the innermost corner of the railway gondola car or container and start unloading and stacking from the ground position again. To automatically achieve the transfer of the unloading position, in this embodiment, the height of the unloading position of the robot in the single-operation mode is limited, that is, the stacking height of the soft-packaged goods after unloading in the railway gondola car or container is not greater than a preset height. Once this preset height is reached, the handling robot can transfer to a position further outside the innermost corner and select a new unloading position to unload. From Figure 2bIt can also be seen that the handling robot as a whole neatly unloads goods from the innermost corner inside the railway gondola car or container from the inside outwards, and the stacking height of the goods that have been unloaded does not exceed the preset height, for example, within the range of 1 / 2 to 3 / 4 of the longitudinal height inside the railway gondola car or container. The unloading and stacking of goods in the remaining height space can be completed in a human-machine collaborative mode. Of course, the worker can also flexibly control the working mode of the handling robot. When it is found that the stacking height of the soft-packed goods after unloading at the current unloading position of the handling robot reaches the preset height inside the railway gondola car or container, the handling robot can be flexibly switched to the human-machine collaborative mode, and through the first indication position indicated by the specified position of the worker's body, the handling robot can be further instructed to continue unloading to a position higher than the preset height at the goods stacking position.

[0055] Of course, the handling robot can also be in the human-machine collaborative working mode throughout the process for loading / unloading.

[0056] In this embodiment, by setting the working mode of the handling robot, within the space range where the height of the unloaded goods does not exceed the preset height, the handling robot is instructed to independently complete unloading and stacking in the single-operation mode, and within the space range where the height of the unloaded goods exceeds the preset height, the handling robot is instructed to cooperate with the worker in the human-machine collaborative mode to complete unloading and stacking, thereby maximizing the space utilization rate of goods loading, reducing the workload of the worker, and further improving safety.

[0057] Embodiment 3 Another embodiment of the present invention relates to a method for handling control. This method is based on Figure 2a the method shown, and for step 220, it refines the determination of the target space area containing the first indication position and the selection of any position within the target space area as the first target position, that is, it gives a method for determining the first target position. As Figure 3 shown, this method for determining the first target position includes: Step 310: Based on the three directions of length, width, and height of the railway gondola car or container, detect the first stacking surface of the cargo stack inside the railway gondola car or container that is closest to the handling robot in the vertical length direction, and judge the first distance from the first indication position to the first stacking surface.

[0058] Specifically, as Figure 1 shown, the three directions of length, width, and height of the railway gondola car or container can be used as the coordinate axes X, Y, and Z in sequence to construct a space coordinate system. Usually, the goods are stacked along the length (x) direction of the carriage, from one end of the carriage to the other end in sequence. As Figure 1They are stacked in sequence from right to left along the x - direction inside the train boxcar or container, and the handling robot is located at the leftmost side of the cargo stack. Therefore, in all longitudinal yz - planes inside the train boxcar or container, the yz - plane closest to the handling robot in the vertical length direction of the cargo stack can be denoted as the first cargo surface. Usually, due to being blocked by the cargo stack, the handling robot generally does not move beyond the position of the first cargo surface. Therefore, when determining the first target position, it is also necessary to refer to the first cargo surface. Based on this, the handling robot can first determine the position of the first cargo surface, and then judge the first distance from the first indicated position to the first cargo surface.

[0059] Step 320: If the first distance is less than the first threshold, then in the first cargo surface, a region enclosed by taking the projection position of the first indicated position as the mid - point, the first width as the boundary in the width direction, and the first height as the boundary in the height direction is used as the first target space region, and a position is selected from within the first target space region as the first target position.

[0060] Specifically, if it is judged that the first distance from the first indicated position to the first cargo surface is less than the first threshold, it means that the first indicated position is very close to the first cargo surface. At this time, in order to avoid the handling robot being blocked by the cargo stack as much as possible, a position on the first cargo surface can be selected as the first target position. More conveniently, on the first cargo surface, a certain range of region with the projection position of the first indicated position on the first cargo surface as the mid - point can be used as the first target space region. For example, a region enclosed by taking the first width (y1) as the boundary in the width direction (y) and the first height (z1) as the boundary in the height direction (z) is used as the first target space region, and then any position is selected from within the first target space region as the first target position. Among them, the first width (y1) and the first height (z1) can be determined based on the working habits of workers. For example, the ranges of the width and height can be around the reachable range of the arm position.

[0061] Of course, in the actual application scenario, on the premise that the handling robot can reach, other yz - planes parallel to the first cargo surface and with a distance value less than the specified threshold are selected. Then, a target space region is determined in the same way as above in these yz - planes, and any position is selected from this target space region as the first target position.

[0062] Step 330: If the first distance is not less than the first threshold value, select any position in the first target space area as the first target position; or, in the second cargo pile surface that passes through the first indication position in the vertical length direction, select an area surrounded by the second width as the width direction boundary and the second height as the height direction boundary as the second target space area, and select a position in the second target space area as the first target position; wherein, the position selected from the second target space area satisfies: the transport robot is not obstructed by the cargo pile during the process of aligning the first actual position to the first target position.

[0063] Specifically, if it is determined that the first distance from the first indicated position to the first cargo surface is not less than the first threshold, it means that the first indicated position is far from the first cargo surface. At this time, there are two strategies for determining the first target position: One is a relatively simple operation. In order to avoid the transport robot being blocked by the cargo pile as much as possible, the position on the first cargo pile surface can still be selected as the first target position as described in step 320. Of course, in actual application scenarios, on the premise that the transport robot can reach it, other yz planes parallel to the first cargo pile surface and with a distance value less than a specified threshold can also be selected. Then, a target space area is determined in these yz planes in the same way as above, and any position in the target space area can also be selected as the first target position.

[0064] Another slightly more complicated but more reasonable operation is to add a second stack of cargo in the vertical length direction (x) and passing through the first indicated position (such as Figure 1 As shown in the figure, the area enclosed by the second width (y2) as the width direction boundary and the second height (z2) as the height direction boundary is selected as the second target space area, and then a position is selected from the second target space area as the first target position. Among them, the second width (y2) and the second height (z2) can be determined based on the worker's working habits. For example, the range of width and height can be around the range that the arm position can reach. The advantage of determining the first target position in this way is that it can be closer to the first indicated position and closer to the target position of the loading / unloading position provided by the handling robot that the worker expects. However, such a determination method may cause the handling robot to be blocked by the pile of goods and unable to reach the position during the movement of the loading / unloading position provided by the first target position. Therefore, when implementing a position selected from the second target space area as the first target position, it must be satisfied that the handling robot is not blocked by the pile of goods during the process of aligning the first actual position to the first target position.

[0065] Of course, in actual application scenarios, on the premise that the handling robot can reach, other yz planes parallel to the second stack surface and with a distance value less than the specified threshold can also be selected. Then, a target space area is determined in these yz planes by the same method as above, and any position in this target space area can also be used as the first target position. The advantage of selecting the position of the target space area in other yz planes as the first target position is that if a suitable first target position cannot be determined in the second stack surface, other first target positions closer to the worker's expectation can be determined as much as possible.

[0066] In this embodiment, multiple schemes for determining the first target position are listed, making the determined first target position more reasonable.

[0067] Embodiment 4 Another embodiment of the present invention relates to a method for handling control, which is a supplementary scheme to the above embodiment. In step 210, the first indication position indicated by the specified position of the worker's body is made by the worker as needed during the loading / unloading process of the handling robot, and the number of times of making is at least 2 times. For example, as the loading / unloading process of the worker progresses, the actual loading / unloading position provided by the handling robot will change accordingly. And when the worker believes that the current actual loading / unloading position provided by the handling robot is not the loading / unloading position he expects, he can make an indication again through the specified position of the body to change the first indication position, and the number of changes can be increased at any time according to the actual handling requirements.

[0068] Correspondingly, after step 210, as Figure 4 shown, calculating the first target position of the handling robot based on the first indication position may include: Step 410: Determine whether the first indication position obtained this time is the same as the first indication position obtained last time. If it is different, calculate the updated first target position of the handling robot based on the first indication position obtained this time; if it is the same, directly determine the first target position determined last time as the updated first target position of the handling robot.

[0069] Specifically, the overall processing logic of this step can refer to step 220. The only difference is that after obtaining the first indication position this time in this step, it will be compared with the first indication position obtained last time, and the determination method of the first target position will be determined according to the comparison result, and then the updated first target position will be determined.

[0070] Correspondingly, controlling the handling robot to align the first actual position with the first target position includes: Step 420: Control the transport robot to align the current first actual position with the updated first target position, so that the worker can load / unload the soft package cargo on the transport robot at the updated first target position.

[0071] Specifically, the overall processing logic of this step can refer to step 230, the only difference is that in this step, the current first actual position of the current transport robot needs to be re-identified and detected, and the current latest first actual position after detection is aligned with the updated first target position.

[0072] The method for transport control in this embodiment can dynamically update the first target position of the transport robot after the worker dynamically issues an instruction indicating the first indicated position, and align the most recently detected current first actual position with the updated first target position, so that the worker can perform loading / unloading of soft-package goods on the transport robot at the updated first target position, thereby realizing dynamic control of the transport robot as the transport progresses.

[0073] Embodiment 5 One embodiment of the present invention relates to a transport robot, which can be used to perform the method steps in Embodiments 1 to 4. Figure 5 As shown, the handling robot is located in a train boxcar or a container, and a control device is provided on the handling robot; the control device includes: An acquisition module 510 is used to acquire a first indicated position indicated by a designated position of a worker's body located in a train boxcar or a container, wherein the first indicated position is used by the worker to indicate a loading / unloading position that the transport robot should provide when loading / unloading the transport robot; A calculation module 520, configured to calculate a first target position of the transport robot based on the first indicated position, wherein the first target position is a loading / unloading position that the worker expects the transport robot to provide; The control module 530 is used to control the transport robot to align the first actual position with the first target position so that the worker can load / unload the soft package goods on the transport robot at the first target position. The first actual position is the actual loading / unloading position provided by the transport robot.

[0074] In some embodiments, the control device further comprises: Response module: used to respond to the triggering operation for the working mode, control the handling robot to enter the corresponding working mode, and the working mode at least includes a human-machine collaboration mode; when the handling robot enters the human-machine collaboration mode, trigger the acquisition module to execute the step of acquiring the first indicated position indicated by the specified position based on the worker's body in the railway gondola car or container.

[0075] In some embodiments, the working mode at least further includes a single operation mode; The response module is further configured to, when the handling robot enters the single operation mode, control the handling robot to independently perform unloading and stacking of flexible package goods in the railway gondola car or container; wherein, the stacking height of the flexible package goods after unloading in the railway gondola car or container is not greater than a preset height.

[0076] In some embodiments, the acquisition module 510 is configured to perform spatial positioning on the specified position of the worker's body based on the positioning sensing signal emitted by the positioning device provided on the specified position of the worker's body, and determine the spatial position obtained by the spatial positioning as the first indicated position.

[0077] In some embodiments, the acquisition module 510 is configured to, based on the depth map information collected in the railway gondola car or container, detect the actions of the specified position of the worker's body in the railway gondola car or container, perform spatial positioning on the specified position in the preset action, and determine the spatial position obtained by the spatial positioning as the first indicated position.

[0078] In some embodiments, the calculation module 520 includes: A first calculation unit for directly determining the first indicated position as the first target position; or, A second calculation unit for determining a target space area including the first indicated position, and selecting any position from the target space area as the first target position.

[0079] In some embodiments, the second calculation unit is configured to: Based on the three directions of the length, width, and height of the railway gondola car or container, detect the first stack surface closest to the handling robot in the vertical length direction of the cargo stack in the railway gondola car or container, and judge the first distance from the first indicated position to the first stack surface; If the first distance is less than a first threshold, then in the first stack surface, a region surrounded by the projection position of the first indicated position as the midpoint, the first width as the width direction boundary, and the first height as the height direction boundary is used as the first target space area, and a position is selected from the first target space area as the first target position; If the first distance is not less than the first threshold, any position within the first target space region is selected as the first target position; alternatively, among the second cargo surfaces passing through the first indicated position in the vertical length direction, a region enclosed by using the second width as the width direction boundary and the second height as the height direction boundary is selected as the second target space region, and a position within the second target space region is selected as the first target position; wherein, the position selected from within the second target space region satisfies: during the process of aligning the first actual position of the handling robot with the first target position, there is no obstruction from the cargo stack.

[0080] In some embodiments, the control module 530 is configured to, when a worker performs loading on the handling robot, control the handling robot to move the first actual position to a third height range that is lower than the first target position along the height direction inside the railway gondola car or container, or further move it to a third width range that deviates from the first target position along the width direction inside the railway gondola car or container.

[0081] In some embodiments, the control module 530 is configured to, when a worker performs unloading on the handling robot, control the handling robot to move the first actual position to a third height range that is higher than the first target position along the height direction inside the railway gondola car or container, or further move it to a third width range that deviates from the first target position along the width direction inside the railway gondola car or container.

[0082] In some embodiments, the actual loading / unloading position provided by the handling robot is located at: the highest point position on the handling robot for carrying the goods to be loaded / the highest point position of the goods to be unloaded carried on the handling robot.

[0083] In some embodiments, the first indicated position indicated by the designated position based on the worker's body is triggered as needed by the worker during the process of performing loading / unloading on the handling robot, and the number of trigger times is at least 2 times; The calculation module 520 is configured to determine whether the first indicated position acquired by the acquisition module this time is the same as the first indicated position acquired last time. If they are different, the first target position of the handling robot after update is calculated based on the first indicated position acquired this time; if they are the same, the first target position determined last time is directly determined as the first target position of the handling robot after update; The control module 530 is configured to control the handling robot to align the current first actual position with the updated first target position, so that the worker can perform loading / unloading of the soft-packaged goods on the handling robot at the updated first target position.

[0084] In some embodiments, the first indicated position is indicated based on the arm position of the worker's body.

[0085] In some embodiments, the positioning sensing signal includes any one of NFC signals, Bluetooth signals, and WiFi signals.

[0086] Embodiment Six An embodiment of the present invention relates to a positioning method, which is applied to a wearable device located at a specified position on the worker's body. The worker is located inside a railway shed car or a container, as Figure 6 shown. The method includes the following steps.

[0087] Step 610: Detect an indication action indicating a first indicated position based on a specified position on the worker's body.

[0088] Specifically, a positioning device can be provided on the wearable device in this embodiment, which has all the functions of the positioning device with the same name in the foregoing method embodiments. The positioning device can be controlled by the worker and emit a positioning sensing signal externally. In order to accurately receive the worker's indication, the positioning device will detect in real time an indication action indicating a first indicated position based on a specified position on the worker's body. The indication action can be that the worker presses a button of the positioning device. Of course, the worker can also trigger the positioning device to emit a positioning sensing signal through other means such as voice control.

[0089] Step 620: After detecting the indication action, send a positioning sensing signal into the railway shed car or the container, so that the handling robot can obtain, based on the positioning sensing signal, a first indicated position indicated by a specified position on the worker's body located in the railway shed car or the container, and perform the method for handling control as described in Embodiments One to Four based on the first indicated position.

[0090] Specifically, after the positioning device detects the worker's indication action, it will send a positioning sensing signal into the railway shed car or the container. After these positioning sensing signals are obtained by the handling robot, the handling robot can obtain, based on the positioning sensing signal, a first indicated position indicated by a specified position on the worker's body located in the railway shed car or the container, and perform the method for handling control as described in Embodiments One to Four based on the first indicated position.

[0091] The positioning method in this embodiment can cooperate with the foregoing method embodiments to provide positioning sensing signals, so that the handling robot can obtain, based on the positioning sensing signals, a first indicated position indicated by a specified position on the worker's body within the railway gondola car or container, and execute a method for handling control based on the first indicated position.

[0092] Embodiment VII One embodiment of the present invention relates to a positioning device, as Figure 7 shown, the positioning device is arranged in a wearable device at a specified position on the worker's body, the worker is within the railway gondola car or container, and the positioning device includes: A detection module 710, configured to detect an indicating action indicating a first indicated position based on a specified position on the worker's body; A sending module 720, configured to send a positioning sensing signal into the railway gondola car or container after detecting the indicating action, so that the handling robot can obtain, based on the positioning sensing signal, a first indicated position indicated by a specified position on the worker's body within the railway gondola car or container, and execute the method for handling control as described in Embodiments 1 to 4 based on the first indicated position.

[0093] Embodiment VIII One embodiment of the present invention relates to a handling interaction method, which is applied to a handling robot within a railway gondola car or container and a positioning device arranged in a wearable device at a specified position on the worker's body, the worker is within the railway gondola car or container, and the handling interaction method includes: The positioning device detects an indicating action indicating a first indicated position based on a specified position on the worker's body, and sends a positioning sensing signal into the railway gondola car or container after detecting the indicating action; The handling robot obtains, based on the positioning sensing signal, a first indicated position indicated by a specified position on the worker's body within the railway gondola car or container, and executes the method for handling control as described in Embodiments 1 to 4 based on the first indicated position.

[0094] For the steps in this embodiment, reference may be made to the corresponding steps in the foregoing method embodiments, which will not be elaborated here.

[0095] Embodiment IX One embodiment of the present invention relates to a handling interaction system, including: a handling robot within a railway gondola car or container, and a positioning device arranged in a wearable device at a specified position on the worker's body, the worker is within the railway gondola car or container; The positioning device is used to detect an indicating action that indicates a first indicating position based on a specified position of a worker's body, and after detecting the indicating action, send a positioning sensing signal into a railway gondola car or a container. The handling robot is used to obtain, based on the positioning sensing signal, the first indicating position indicated by the specified position of the worker's body located in the railway gondola car or the container, and execute the method for handling control as described in Embodiments 1 to 4 based on the first indicating position.

[0096] For the functions of the modules in this embodiment, reference may be made to the corresponding functional modules in the foregoing embodiments, which will not be elaborated herein.

[0097] Embodiment 10 Another embodiment of the present invention relates to an electronic device, as Figure 8 shown, including at least one processor 802; and a memory 801 communicatively connected to the at least one processor 802; wherein, the memory 801 stores instructions executable by the at least one processor 802, and the instructions are executed by the at least one processor 802 to enable the at least one processor 802 to execute any of the above method embodiments.

[0098] Wherein, the memory 801 and the processor 802 are connected in a bus manner. The bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors 802 and the memory 801 together. The bus may also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be an element or multiple elements, such as multiple receivers and transmitters, and provides a unit for communicating with various other devices on the transmission medium. The data processed by the processor 802 is transmitted on the wireless medium through the antenna. Further, the antenna also receives data and transmits the data to the processor 802.

[0099] The processor 802 is responsible for managing the bus and general processing, and may also provide various functions, including timing, peripheral interface, voltage regulation, power management, and other control functions. And the memory 801 may be used to store data used by the processor 802 when executing operations.

[0100] Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements any of the above method embodiments.

[0101] Another embodiment of the present invention relates to a computer program product, which, when running on a terminal device, causes an electronic device to execute the method embodiments described in any one of the above.

[0102] That is, those skilled in the art can understand that all or part of the steps in implementing the above method embodiments can be completed by a program instructing relevant hardware. The program is stored in a storage medium and includes several instructions to cause a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0103] It should be understood that when used in the description of the specification and the appended claims of the present application, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0104] In addition, in the description of the specification and the appended claims of the present application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0105] Those of ordinary skill in the art can understand that the above embodiments are specific embodiments for implementing the present invention, and in actual applications, various changes can be made to them in form and details without departing from the spirit and scope of the present invention.

Claims

1. A method for handling control, characterized in that, Applied to a handling robot located inside a railway boxcar or a container, the method includes: Obtaining a first indicated position indicated by a designated position based on a worker's body inside a railway boxcar or a container, where the first indicated position is used for the worker to indicate the loading / unloading position that the handling robot should provide when performing loading / unloading on the handling robot; Calculating a first target position of the handling robot based on the first indicated position, where the first target position is the speculated loading / unloading position that the worker expects the handling robot to provide; Controlling the handling robot to align a first actual position with the first target position for the worker to perform loading / unloading of flexible packaged goods on the handling robot at the first target position, where the first actual position is the actual loading / unloading position provided by the handling robot.

2. The method according to claim 1, wherein Before obtaining the first indicated position indicated by a designated position based on a worker's body inside a railway boxcar or a container, it further includes: Responding to a trigger operation for a working mode, controlling the handling robot to enter the corresponding working mode, where the working mode at least includes a human-machine collaboration mode; After the handling robot enters the human-machine collaboration mode, triggering the execution of the step of obtaining the first indicated position indicated by a designated position based on a worker's body inside a railway boxcar or a container.

3. The method according to claim 2, wherein The working mode at least further includes a single operation mode, and the method further includes: After the handling robot enters the single operation mode, controlling the handling robot to autonomously perform unloading and stacking of flexible packaged goods inside the railway boxcar or the container; where the stacking height of the flexible packaged goods after unloading inside the railway boxcar or the container is not greater than a preset height.

4. The method according to claim 1, wherein The obtaining the first indicated position indicated by a designated position based on a worker's body inside a railway boxcar or a container includes: Performing spatial positioning on the designated position of the worker's body based on the positioning sensing signal emitted by a positioning device provided at the designated position of the worker's body, and determining the spatial position obtained by the spatial positioning as the first indicated position.

5. The method according to claim 1, characterized in that, The obtaining the first indicated position indicated by a designated position based on a worker's body inside a railway boxcar or a container includes: Based on the depth map information collected inside the railway boxcar or the container, detecting the movement of the designated position of the worker's body inside the railway boxcar or the container, performing spatial positioning on the designated position in a preset movement, and determining the spatial position obtained by the spatial positioning as the first indicated position.

6. The method according to claim 1, characterized in that The calculating the first target position of the handling robot based on the first indicated position includes: Directly determining the first indicated position as the first target position; or, Determining a target space area containing the first indicated position, and selecting any position from the target space area as the first target position.

7. The method according to claim 6, characterized in that, The determining a target space area containing the first indicated position, and selecting any position from the target space area as the first target position includes: Based on the length, width, and height of a railway boxcar or container, detect the first stack surface closest to the handling robot in the vertical length direction of the cargo stack inside the railway boxcar or container, and determine the first distance from the first indicated position to the first stack surface; If the first distance is less than the first threshold, then in the first stack surface, a region enclosed by taking the projection position of the first indicated position as the midpoint, the first width as the width direction boundary, and the first height as the height direction boundary is used as the first target space region, and a position is selected from within the first target space region as the first target position; If the first distance is not less than the first threshold, then a position is arbitrarily selected from within the first target space region as the first target position; or, in the second stack surface passing through the first indicated position in the vertical length direction, a region enclosed by taking the second width as the width direction boundary and the second height as the height direction boundary is used as the second target space region, and a position is selected from within the second target space region as the first target position; wherein, a position selected from within the second target space region satisfies: during the process of aligning the first actual position of the handling robot with the first target position, there is no obstruction from the cargo stack.

8. The method according to claim 1, wherein The controlling the handling robot to align the first actual position with the first target position includes: When a worker performs loading on the handling robot, controlling the handling robot to move the first actual position to within a third height range lower than the first target position along the height direction inside the railway boxcar or container, or further move it to within a third width range deviating from the first target position along the width direction inside the railway boxcar or container.

9. The method according to claim 1, wherein The controlling the handling robot to align the first actual position with the first target position includes: When a worker performs unloading on the handling robot, controlling the handling robot to move the first actual position to within a third height range higher than the first target position along the height direction inside the railway boxcar or container, or further move it to within a third width range deviating from the first target position along the width direction inside the railway boxcar or container.

10. The method according to claim 1, wherein The actual loading / unloading position provided by the handling robot is located at: the highest point position on the handling robot for carrying the goods to be loaded / the lowest point position of the goods to be unloaded carried on the handling robot.

11. The method according to claim 1, wherein The first indicated position indicated by the specified position of the worker's body is made as needed by the worker during the process of performing loading / unloading on the handling robot, and the number of times of making is at least 2 times; The calculating the first target position of the handling robot based on the first indicated position includes: Judge whether the first indicated position obtained this time is the same as the first indicated position obtained last time. If it is different, then calculate the updated first target position of the handling robot based on the first indicated position obtained this time; if it is the same, then directly determine the first target position determined last time as the updated first target position of the handling robot; Controlling the handling robot to align the first actual position with the first target position includes: Controlling the handling robot to align the current first actual position with the updated first target position, so that the worker can load / unload the handling robot for soft-packaged goods at the updated first target position.

12. The method according to claim 1, characterized in that, The first indicated position is indicated based on the arm position of the worker's body.

13. The method according to claim 4, wherein The positioning sensing signal includes any one of NFC signals, Bluetooth signals, and WiFi signals.

14. A handling robot, characterized in that, The handling robot is located inside a railway gondola car or a container, and a control device is provided on the handling robot; the control device includes: An acquisition module, configured to acquire a first indicated position indicated by a specified position on the worker's body located inside a railway gondola car or a container, where the first indicated position is used for the worker to indicate the loading / unloading position that the handling robot should provide when loading / unloading the handling robot. A calculation module, configured to calculate a first target position of the handling robot based on the first indicated position, where the first target position is a speculated loading / unloading position that the worker expects the handling robot to provide. A control module, configured to control the handling robot to align the first actual position with the first target position, so that the worker can load / unload the handling robot for soft-packaged goods at the first target position, where the first actual position is the actual loading / unloading position provided by the handling robot.

15. The handling robot according to claim 14, characterized in that, The control device further includes: A response module: configured to respond to a trigger operation for a working mode, and control the handling robot to enter the corresponding working mode, where the working mode at least includes a human-machine collaboration mode; when the handling robot enters the human-machine collaboration mode, trigger the acquisition module to execute the step of acquiring the first indicated position indicated by a specified position on the worker's body located inside a railway gondola car or a container.

16. The handling robot according to claim 15, wherein, The working mode at least further includes a single operation mode; The response module is further configured to, when the handling robot enters the single operation mode, control the handling robot to independently perform unloading and stacking of soft-packaged goods inside the railway gondola car or the container; where the stacking height of the soft-packaged goods after unloading inside the railway gondola car or the container is not greater than a preset height.

17. The handling robot according to claim 14, wherein The acquisition module is configured to perform spatial positioning on the specified position of the worker's body based on a positioning sensing signal emitted by a positioning device provided on the specified position of the worker's body, and determine the spatial position obtained by the spatial positioning as the first indicated position.

18. The handling robot according to claim 14, wherein The acquisition module is configured to, based on depth map information collected inside a railway gondola car or a container, detect the action of the specified position of the worker's body inside the railway gondola car or the container, perform spatial positioning on the specified position in a preset action, and determine the spatial position obtained by the spatial positioning as the first indicated position.

19. The handling robot according to claim 14, characterized in that, The calculation module includes: A first calculation unit, configured to directly determine the first indicated position as the first target position; or, A second calculation unit, configured to determine a target space region including the first indicated position, and select any position within the target space region as the first target position.

20. The handling robot according to claim 19, wherein, The second calculation unit is configured to: Based on the three directions of length, width, and height of a railway boxcar or a container, detect a first stack surface of the cargo stack in the railway boxcar or the container that is closest to the handling robot in the vertical length direction, and determine a first distance from the first indicated position to the first stack surface; If the first distance is less than a first threshold, within the first stack surface, a region surrounded by using the projection position of the first indicated position as the midpoint, a first width as the width direction boundary, and a first height as the height direction boundary is used as the first target space region, and a position is selected from within the first target space region as the first target position; If the first distance is not less than the first threshold, any position is selected from within the first target space region as the first target position; or, within a second stack surface passing through the first indicated position in the vertical length direction, a region surrounded by using a second width as the width direction boundary and a second height as the height direction boundary is used as the second target space region, and a position is selected from within the second target space region as the first target position; wherein, a position selected from within the second target space region satisfies that: during the process of aligning the first actual position of the handling robot with the first target position, there is no obstruction by the cargo stack.

21. The handling robot according to claim 14, wherein The control module is configured to, when a worker performs loading on the handling robot, control the handling robot to move the first actual position to within a first height range that is lower than the first target position along the height direction inside the railway boxcar or the container, or further move it to within a first width range that deviates from the first target position along the width direction inside the railway boxcar or the container.

22. The handling robot according to claim 14, wherein The control module is configured to, when a worker performs unloading on the handling robot, control the handling robot to move the first actual position to within a first height range that is higher than the first target position along the height direction inside the railway boxcar or the container, or further move it to within a first width range that deviates from the first target position along the width direction inside the railway boxcar or the container.

23. The handling robot according to claim 14, wherein, The actually loaded / unloaded position provided by the handling robot is located at: the highest point position on the handling robot for carrying the goods to be loaded / the lowest point position of the goods to be unloaded carried on the handling robot.

24. The handling robot according to claim 14, wherein The first indicated position indicated by the specified position based on the worker's body is triggered as needed by the worker during the process of performing loading / unloading on the handling robot, and the number of trigger times is at least 2 times; The calculation module is configured to determine whether the first indicated position obtained by the acquisition module this time is the same as the first indicated position obtained last time. If they are different, it calculates the updated first target position of the handling robot based on the first indicated position obtained this time; If they are the same, it directly determines the first target position determined last time as the updated first target position of the handling robot; The control module is configured to control the handling robot to align the current first actual position with the updated first target position, so that the worker can load / unload the soft-packaged goods on / from the handling robot at the updated first target position.

25. The handling robot according to claim 14, characterized in that The first indicated position is indicated based on the arm position of the worker's body.

26. The handling robot according to claim 17, characterized in that, The positioning sensing signal includes any one of NFC signals, Bluetooth signals, and WiFi signals.

27. A positioning method, characterized in that, Applied to a wearable device located at a specified position on the worker's body, where the worker is located inside a railway gondola car or a container, the positioning method includes: Detect an indicating action that indicates the first indicated position based on a specified position on the worker's body; After detecting the indicating action, send a positioning sensing signal into the railway gondola car or the container, so that the handling robot can obtain the first indicated position indicated based on the specified position on the worker's body located inside the railway gondola car or the container based on the positioning sensing signal, and execute the method for handling control according to any one of claims 1 to 4, 6 to 13 based on the first indicated position.

28. A positioning device, characterized in that, The positioning device is arranged in a wearable device located at a specified position on the worker's body, where the worker is located inside a railway gondola car or a container, and the positioning device includes: A detection module configured to detect an indicating action that indicates the first indicated position based on a specified position on the worker's body; A sending module configured to, after detecting the indicating action, send a positioning sensing signal into the railway gondola car or the container, so that the handling robot can obtain the first indicated position indicated based on the specified position on the worker's body located inside the railway gondola car or the container based on the positioning sensing signal, and execute the method for handling control according to any one of claims 1 to 4, 6 to 13 based on the first indicated position.

29. A handling interaction method, characterized in that, Applied to a handling robot located inside a railway gondola car or a container, and a positioning device arranged in a wearable device located at a specified position on the worker's body, where the worker is located inside the railway gondola car or the container, the handling interaction method includes: The positioning device detects an indicating action that indicates the first indicated position based on a specified position on the worker's body, and after detecting the indicating action, sends a positioning sensing signal into the railway gondola car or the container; The handling robot obtains the first indicated position indicated based on the specified position on the worker's body located inside the railway gondola car or the container based on the positioning sensing signal, and executes the method for handling control according to any one of claims 1 to 4, 6 to 13 based on the first indicated position.

30. A handling interaction system, characterized in that, Including: A handling robot located inside a railway boxcar or container, and a positioning device provided in a wearable device disposed at a specified position on a worker's body, the worker being inside the railway boxcar or container; The positioning device is configured to detect an indicating action indicating a first indicating position based on a specified position on the worker's body, and after detecting the indicating action, send a positioning sensing signal into the railway boxcar or container; The handling robot is configured to obtain, based on the positioning sensing signal, a first indicating position indicated by a specified position on the worker's body inside the railway boxcar or container, and execute a method for handling control according to any one of claims 1 to 4, 6 to 13 based on the first indicating position.

31. An electronic device, characterized in that, Comprising: At least one processor; And, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute a method for handling control according to any one of claims 1 to 13, or a positioning method according to claim 27, or a handling interaction method according to claim 29.

32. A computer program product, the computer program product comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed by a processor, a method for handling control according to any one of claims 1 to 13, or a positioning method according to claim 27, or a handling interaction method according to claim 29 is implemented.

33. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, a method for handling control according to any one of claims 1 to 13, or a positioning method according to claim 27, or a handling interaction method according to claim 29 is implemented.

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